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fdyn2

private function called by FDYN

Calling Sequence

XDD = FDYN2(T, X, FLAG, ROBOT, TORQUEFUN)

Description

Called by FDYN to evaluate the robot velocity and acceleration for forward dynamics. T is the current time, X = [Q QD] is the state vector, ROBOT is the object being integrated, and TORQUEFUN is the string name of the function to compute joint torques and called as

TAU = TORQUEFUN(T, X)

if not given zero joint torques are assumed.

The result is XDD = [QD QDD].

See also

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