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46 lines
1.2 KiB
46 lines
1.2 KiB
function [ QDot ] = createGenVelocities( rob )
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%% CREATEGENVELOCITIES Create symbolic vector of generalized robot joint velocities.
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% =========================================================================
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%
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% [ QDot ] = createGenForces( rob )
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%
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% Input:
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% rob: Robot definition structure.
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%
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% Output:
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% QDot: [nx1] Symbolic vector of the generalized robot joint forces.
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%
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% Example:
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% createGenVelocities( stanfordarm3 )
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%
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% Known Bugs:
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% ---
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%
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% TODO:
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% ---
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%
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% References:
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% ---
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%
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% Authors:
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% Jörn Malzahn
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%
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% See also createGenCoordinates,createGenVelocities,createGenAccelerations.
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%
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% This software may be used under the terms of CC BY-SA 3.0 license
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% < http://creativecommons.org/licenses/by-sa/3.0/ >
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%
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% 2012 RST, Technische Universität Dortmund, Germany
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% < http://www.rst.e-technik.tu-dortmund.de >
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%
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% ========================================================================
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nCoords = size(rob.DH,1);
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evalString = [];
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for iCoords = 1:nCoords
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evalString = [evalString, 'qDot', num2str(iCoords), ' '];
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end
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eval(['syms ', evalString]);
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QDot = eval([ '[', evalString,']' ] );
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QDot = QDot.';
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