RobotStudio/robot/@SerialLink/genforces.m
%SerialLink.genforces Vector of symbolic generalized forces
%
% Q = R.genforces() is a vector (1xN) of symbols [Q1 Q2 ... QN].
%
% See also SerialLink.gencoords.



% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com

function tau = genforces(r)

    for j=1:r.n
        tau(j) = sym( sprintf('Q%d', j), 'real' );
    end
