... | ... | @@ -14,3 +14,13 @@ Qa should not be used to store results of the Invdyn symbolic file. INvdynrad sy |
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[^2]: Qa vector is defined via MBsysPad by checking the _actuated_ box or via the `set_qa` function of `MbsData`.
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[^1]: the size of the expected signal on the block port will be equal the number of actuated joint set via the corresponding check box in MBsysPad.
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| | Qq | Qc | Qm [^2] | Qa |
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|---------------|--------------------------------------|-----------------------|------------------------|-----|
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| Dirdyn | Input (user_jointForces) | Output (from driven joints) | No default usage. Added to Qq | a |
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| Dirdyn – smlk | Input (user_jointForces) | Output (from driven joints) | Input, Coming from block input port [^1] | a |
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| Equil | Input (user_jointForces) | Output (from driven joints) | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil (Input of the equations, output of the module) | a |
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| Invdyn | Input (user_jointForces) | Output (from driven joints) | | a |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Output (from driven joints) | Used by module to put control input | a |
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