0001 stanford
0002 stanfordm
0003
0004
0005 n = 1;
0006
0007
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
0024 fprintf('Torques and forces - Worst case error is %f\n', max(max(abs(tau1-tau2))));