1function mt = ligamentscalctorque(q, dq, cons)
 2%LIGAMENTSCALCTORQUE Summary of this function goes here
 3%   Detailed explanation goes here
 4
 5%#codegen
 6
 7mt = zeros(6,1);
 8
 9for i = 1:6
10    mt(i) = - cons.CM_min(i) * exp(-cons.CP_min(i)*(-q(i)-cons.q_min(i)))...
11        + cons.CM_max(i) * exp(-cons.CP_max(i)*(cons.q_max(i)+q(i)))...
12        - cons.C_damp(i) * dq(i);
13end;
14
15end
16
17