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45 lines
1.6 KiB
45 lines
1.6 KiB
%SerialLink.gravload Gravity loading
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%
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% TAUG = R.gravload(Q) is the joint gravity loading for the robot in the
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% joint configuration Q. Gravitational acceleration is a property of the
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% robot object.
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%
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% If Q is a row vector, the result is a row vector of joint torques. If
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% Q is a matrix, each row is interpreted as a joint configuration vector,
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% and the result is a matrix each row being the corresponding joint torques.
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%
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% TAUG = R.gravload(Q, GRAV) is as above but the gravitational
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% acceleration vector GRAV is given explicitly.
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%
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% See also SerialLink.rne, SerialLink.itorque, SerialLink.coriolis.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function tg = gravload(robot, q, grav)
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if numcols(q) ~= robot.n
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error('Insufficient columns in q')
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end
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if nargin == 2
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tg = rne(robot, q, zeros(size(q)), zeros(size(q)));
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elseif nargin == 3
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tg = rne(robot, q, zeros(size(q)), zeros(size(q)), grav);
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end
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