@sh.add_function(
dsp, inputs=['motor_p4_front_torques'],
outputs=['motor_p4_front_maximum_torque']
)
@sh.add_function(
dsp, inputs=['motor_p4_rear_torques'],
outputs=['motor_p4_rear_maximum_torque']
)
def identify_motor_p4_maximum_torque(motor_p4_torques):
"""
Identify the maximum torque of motor P4 [N*m].
:param motor_p4_torques:
Torque at motor P4 [N*m].
:type motor_p4_torques: numpy.array
:return:
Maximum torque of motor P4 [N*m].
:rtype: float
"""
return float(np.max(np.abs(motor_p4_torques)))