def gravload(robot, q=None, grav=None):
q = mat(q)
if numcols(q) != robot.n:
raise 'Insuficient columns in q'
if grav == None and q != None:
tg = rne(robot, q, zeros(shape(q)), zeros(shape(q)))
elif grav != None and q != None:
tg = rne(robot, q, zeros(shape(q)), zeros(shape(q)), grav)
return tg
def gravload(robot, q=None, grav=None):
q = mat(q)
if numcols(q) != robot.n:
raise 'Insuficient columns in q'
if grav == None and q != None:
tg = rne(robot, q, zeros(shape(q)), zeros(shape(q)))
elif grav != None and q != None:
tg = rne(robot, q, zeros(shape(q)), zeros(shape(q)), grav)
return tg
def itorque(robot, q, qdd):
return rne(robot, q, zeros(shape(q)), qdd, [[0],[0],[0]])
def itorque(robot, q, qdd):
return rne(robot, q, zeros(shape(q)), qdd, [[0],[0],[0]])
