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
am 10 Nov. 2011
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
am 11 Nov. 2011
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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