eular lagrange formulation

prabinrath · Mar 19, 2022 · 25279e7 · 25279e7
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diff --git a/Legged Robotics/2D-Projectile/projectile_2d_sim.mlx b/Legged Robotics/2D-Projectile/projectile_2d_sim.mlx
diff --git a/Legged Robotics/2D-Projectile/projectile_dynamics_symbolic.mlx b/Legged Robotics/2D-Projectile/projectile_dynamics_symbolic.mlx
diff --git a/Legged Robotics/eular_lagrange.m b/Legged Robotics/eular_lagrange.m
@@ -0,0 +1,15 @@
+function qdd = eular_lagrange(L,q,qd,F)
+    syms acc [1 length(q)];
+    for k=1:length(q)
+        dL_dqd = diff(L,qd(k));
+        dL_dqd_dt = 0;
+        for m=1:length(q)
+            dL_dqd_dt = dL_dqd_dt + diff(dL_dqd,q(m))*qd(m);
+        end
+        for m=1:length(qd)
+            dL_dqd_dt = dL_dqd_dt + diff(dL_dqd,qd(m))*acc(m);
+        end
+        dL_dq = diff(L,q(k));
+        qdd(k) = solve(dL_dqd_dt - dL_dq - F(k), acc(k));
+    end       
+end
diff --git a/Legged Robotics/symbolic_diff_example.mlx b/Legged Robotics/symbolic_diff_example.mlx