[1] The comment was modified.

diff --git a/dynamics/src/math.clj b/dynamics/src/math.clj
index 1b2ecf5..9524467 100755 (executable)
--- a/dynamics/src/math.clj
+++ b/dynamics/src/math.clj
@@ -137,8 +137,13 @@
 ;  (d2 d2 L o G[q])^(-1) (d1 L o G[q] - d0 d2 L o G[q] - (d1 d2 L o G[q])Dq)
 ; A = (d2 d2 L)^(-1) (d1 L - d0 d2 L - (d1 d2 L)I2)
 ;(defn L->accer [L]
-;  (t* (m->downdown (to-matrix (partial (partial L 2) 2)
-
+;  (fn [x] ; x -> [up t q qdot]
+;    (t* (inverse ((partial (partial L 2) 2) x))
+;        (t- ((partial L 1) x)
+;            ((partial (partial L 2) 0) x)
+;            (t* (partial (partial L 2) 1)
+;                (nth L 3)
+;                )))))
 (def *dxi* 0.001)
 
 ; 'jaco' will be rewritten more shortly by using 'deriv' function.