Updating a jlist

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err and exitflag are also Mx1 and indicate the results of optimisation for the corresponding trajectory step.

(T, q0, options) specifies the initial estimate of the joint coordinates.

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C = R.(T, torqfun) integrates the dynamics of the robot over the time interval 0 to T and returns vectors of time T, joint position q and joint velocity qd. The torque applied to the joints is computed by the user-supplied control function torqfun: (q, options) is the pose of the robot end-effector as an SE(3) homogeneous transformation (4x4) for the joint configuration q (1x N).

If q, qd, torque are matrices (Kx N) then qdd is a matrix (Kx N) where each row is the acceleration corresponding to the equivalent rows of q, qd, torque.

qdd = R.(q) is the Nx N Cartesian (operational space) inertia matrix which relates Cartesian force/torque to Cartesian acceleration at the joint configuration q, and N is the number of robot joints.

This method can be used for robots with 6 or more degrees of freedom.

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

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