/**
* Calculates the needed output torques based on forces input and updates each initialized
* actuator respectively
*
* @param forces forces that need to be generated
* @returns torques that need to be outputted to the physical device
*/
public float[] Set_device_torques(float[] forces)
{
mechanism.TorqueCalculation(forces);
float[] torques = mechanism.Get_torque();
for (int i = 0; i < actuatorsActive; i++)
{
motors[i].Torque = torques[i];
}
return(torques);
}