what is the difference between mux and vector concatenate?
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I want to input the joint angle, joint angular velocity and joint angular acceleration to the joint actuator, how could I specify each signals for each of them?!
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Kaustubha Govind
2011 年 11 月 10 日
hadi: Please fix the title of your question. It seems unrelated to the body. If there are related, please describe how.
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Guy Rouleau
2011 年 11 月 11 日
Look at the section "Stabilizing Numerical Derivatives in Actuation Signals" in this page to see how to compute velocity and acceleration based on position
Then combine the into a vector using either the vector concatenate
or the Mux:
The difference between Vector Concatenate and Mux is in the way the memory is handled under the hood. VC copies the element into a contiguous piece of memory, while mux is virtual, it is only a visual representation, it does not copy the components into one contiguous piece of memory.
In your case, if you care only about simulation you will not see a difference.
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