sns_ik\sns_ik_lib\matlab\snsik_vel_rr

[ranness]

As the pseudocode of Algorithm 1 given in the paper (motion control of redundant robots under joint constraints:Saturation in the Null Space), the whloe loop is as same as the do-while structure. But the algorithmic logic in this m file is while structure with the same judge contition mentioned in paper? Is that correct?