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24 lines
577 B
24 lines
577 B
stanford
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stanfordm
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% number of trials
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n = 1;
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% create random points in state space
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q = rand(n, 6);
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qd = rand(n, 6);
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qdd = rand(n, 6);
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jacobn1 = jacobn(stan,q);
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jacobn2 = jacobn(stanm,q);
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fprintf('Jacob N - Worst case error is %f\n', max(max(abs(jacobn1-jacobn2))));
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jacob01 = jacob0(stan,q(1,:));
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jacob02 = jacob0(stanm,q(1,:));
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fprintf('Jacob 0 - Worst case error is %f\n', max(max(abs(jacob01-jacob02))));
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tau1=rne(stan,q,qd,qdd);
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tau2=rne(stanm,q,qd,qdd);
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% print comparative results
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fprintf('Torques and forces - Worst case error is %f\n', max(max(abs(tau1-tau2))));
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