13 lines
286 B
Mathematica
13 lines
286 B
Mathematica
|
function drv = ur10_drv_rgsr(q2d_est)%(qd_fltrd)
|
||
|
|
% drv = zeros(6,1);
|
||
|
|
% % for i = 1:6
|
||
|
|
% % drv(i) = 0.5*qd_fltrd(i)^2;
|
||
|
|
% % end
|
||
|
|
% for i = 1:6
|
||
|
|
% drv(i) = q2d_est(i);
|
||
|
|
% end
|
||
|
|
drv = zeros(6,4);
|
||
|
|
for i = 3:6
|
||
|
|
drv(i,i-2) = q2d_est(i);
|
||
|
|
end
|
||
|
|
end
|