def velocities(robo): symo = Symoro(None) symo.file_open(robo, 'vel') symo.write_params_table(robo, 'Link velocities') antRj, antPj = compute_rot_trans(robo, symo) w = Init.init_w(robo) v = Init.init_v(robo) for j in xrange(1, robo.NL): jRant = antRj[j].T qdj = Z_AXIS * robo.qdot[j] wi = _omega_i(robo, symo, j, jRant, w) w[j] = _omega_j(robo, j, jRant, w, wi, qdj) symo.mat_replace(w[j], 'W', j, forced=True) _v_j(robo, j, antPj, jRant, v, w, qdj) symo.mat_replace(v[j], 'V', j, forced=True) symo.file_close() return symo