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Subsections

q_qdot

Syntax

void q_qdot(const Quaternion & qd, const ColumnVector & pd, 
            const ColumnVector & pddot, const ColumnVector & wd,
            ColumnVector & q, ColumnVector & qp);

Description

This function sets the desired orientation joint position $q$ and the desired joint velocity $qp$.

Return Value

None



Richard Gourdeau 2004-07-06