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prismatic

PURPOSE ^

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 stanford
0002 stanfordm
0003 
0004 % number of trials
0005 n = 1;
0006 
0007 % create random points in state space
0008 q = rand(n, 6);
0009 qd = rand(n, 6);
0010 qdd = rand(n, 6);
0011 
0012 jacobn1 = jacobn(stan,q);
0013 jacobn2 = jacobn(stanm,q);
0014 fprintf('Jacob N - Worst case error is %f\n', max(max(abs(jacobn1-jacobn2))));
0015 
0016 jacob01 = jacob0(stan,q(1,:));
0017 jacob02 = jacob0(stanm,q(1,:));
0018 fprintf('Jacob 0 - Worst case error is %f\n', max(max(abs(jacob01-jacob02))));
0019 
0020 tau1=rne(stan,q,qd,qdd);
0021 tau2=rne(stanm,q,qd,qdd);
0022 
0023 % print comparative results
0024 fprintf('Torques and forces - Worst case error is %f\n', max(max(abs(tau1-tau2))));

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