ccl_learna_retlambda

 lambda = ccl_learna_retlambda(q,L)
 Return a function handle for lambda
 Input:
   q                 Joint state
   L                 Link length
   varargin
 Output:
   lambda            function handle for lambda

0001 function lambda = ccl_learna_retlambda(q,L,varargin)
0002 % lambda = ccl_learna_retlambda(q,L)
0003 % Return a function handle for lambda
0004 % Input:
0005 %   q                 Joint state
0006 %   L                 Link length
0007 %   varargin
0008 % Output:
0009 %   lambda            function handle for lambda
0010 if nargin == 2
0011     a = 2;
0012     forward_xy = ccl_rob_forward(q,L);
0013     lambda = [2*a*forward_xy(1),-1];
0014 else
0015     forward_xy = ccl_rob_forward(q,L);
0016     lambda = [2*randi([-10,10])*forward_xy(1),-1];
0017 end
0018 end