#+TITLE: Stiffness of the Stewart Platform

* Functions
  :PROPERTIES:
  :HEADER-ARGS:matlab+: :exports code
  :HEADER-ARGS:matlab+: :comments no
  :HEADER-ARGS:matlab+: :mkdir yes
  :HEADER-ARGS:matlab+: :eval no
  :END:
** getStiffnessMatrix
  :PROPERTIES:
  :HEADER-ARGS:matlab+: :tangle src/getStiffnessMatrix.m
  :END:
#+begin_src matlab
  function [K] = getStiffnessMatrix(k, J)
  % k - leg stiffness
  % J - Jacobian matrix
      K = k*(J'*J);
  end
#+end_src