47 static const char rcsid[] =
"$Id: sensitiv.cpp,v 1.13 2004/07/06 02:16:37 gourdeau Exp $";
54 using namespace NEWMAT;
72 for(i = 1; i <= dof; i++) {
73 for(j = 1; j <= dof; j++) {
74 dq(j) = (i == j ? 1.0 : 0.0);
76 dq_torque(q,qp,qpp,dq,ltorque,dtorque);
77 for(j = 1; j <= dof; j++) {
78 ldtau_dq(j,i) = dtorque(j);
81 ldtau_dq.
Release();
return ldtau_dq;
97 for(i = 1; i <= dof; i++) {
98 for(j = 1; j <= dof; j++) {
99 dqp(j) = (i == j ? 1.0 : 0.0);
101 dqp_torque(q,qp,dqp,ltorque,dtorque);
102 for(j = 1; j <= dof; j++) {
103 ldtau_dqp(j,i) = dtorque(j);
106 ldtau_dqp.
Release();
return ldtau_dqp;
ReturnMatrix dtau_dq(const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)
Sensitivity of the dynamics with respect to .
Robots class definitions.
static const char rcsid[]
RCS/CVS version.
The usual rectangular matrix.
ReturnMatrix dtau_dqp(const ColumnVector &q, const ColumnVector &qp)
Sensitivity of the dynamics with respect to .