TH = 4*(0.5-rand(2,1))

THD = 4*(0.5-rand(2,1))

THDD = 4*(0.5-rand(2,1))



flops(0)

disp('Lagrangian')

t1 = idyn2r(TH,THD,THDD)'

flops



flops(0)

disp('symbolic Newton Euler')

t2 = r2idyn(TH,THD,THDD)

flops


