1function [F ds rec_out] = ligaments_control(t, N, dt, q, dq, t_all, x_all, cons, s_in, rec_in, Tj, Tm, Tp, dTj, dTm, dTp, M)
2
3F = zeros(9, 1);
4pm = zeros(6,1);
5vm = zeros(6,1);
6pm(1) = q(4) - q(3);
7vm(1) = dq(4) - dq(3);
8pm(2) = q(5) - q(4);
9vm(2) = dq(5) - dq(4);
10pm(3) = q(6) - q(5);
11vm(3) = dq(6) - dq(5);
12pm(4) = q(7) - q(3);
13vm(4) = dq(7) - dq(3);
14pm(5) = q(8) - q(7);
15vm(5) = dq(8) - dq(7);
16pm(6) = q(9) - q(8);
17vm(6) = dq(9) - dq(8);
18mt = ligamentscalctorque(pm, vm, cons);
19rec_out = mt;
20F(4) = F(4) + mt(1);
21F(3) = F(3) - mt(1);
22F(5) = F(5) + mt(2);
23F(4) = F(4) - mt(2);
24F(6) = F(6) + mt(3);
25F(5) = F(5) - mt(3);
26F(7) = F(7) + mt(4);
27F(3) = F(3) - mt(4);
28F(8) = F(8) + mt(5);
29F(7) = F(7) - mt(5);
30F(9) = F(9) + mt(6);
31F(8) = F(8) - mt(6);
32ds = [];