NoDynamics/ComputedTorqueInSpaceControl/ControlLaw.scilab File Reference

Compute the generalized Torques. More...


Functions

rets ControlLaw (type t, type q, type qdot)
 Compute the generalized Torques.


Detailed Description

Compute the generalized Torques.

Author:
Pierre-Brice Wieber
Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications:


Function Documentation

rets ControlLaw ( type  t,
type  q,
type  qdot 
)

Compute the generalized Torques.

Parameters:
t (float) time
q (float vector, size = NDOF) position
qdot (float vector, size = NDOF) velocity
Returns:
Torques (float vector, size = NDOF) generalized Torques

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