eular lagrange matrix form

prabinrath · Mar 19, 2022 · e5c33b3 · e5c33b3
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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_lagrange2.m b/Legged Robotics/eular_lagrange2.m
@@ -0,0 +1,8 @@
+function qdd = eular_lagrange2(L,q,qd,F)
+    syms acc [1 length(q)];
+    dL_dqd = gradient(L,qd);
+    dL_dqd_dt = jacobian(dL_dqd,[q qd])*transpose([qd acc]);
+    dL_dq = gradient(L,q);
+    eom = dL_dqd_dt - dL_dq - transpose(F);
+    qdd = cell2sym(struct2cell(solve(eom,acc)));
+end