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Subsections

get_q, get_qp, get_qpp

Syntax

ReturnMatrix get_q(void);
Real get_q(const int i);
ReturnMatrix get_qp(void);
Real get_qp(const int i);
ReturnMatrix get_qp(void);
Real get_qp(const int i);

Description

These functions return a column vector containing the joint variables (get_q), velocities (get_qp) or accelerations (get_qpp) when called with no argument. It returns the scalar value for the $i^{th}$ joint variable when called with an integer argument.

Return Value

ColumnVector or Real



Richard Gourdeau 2004-07-06