parameters: (self,qdes0,qdes1,dt,tasks=None)
docstring: Sets all the tasks' desired velocities from a given pair
  		of configurations separated by dt (e.g., to follow a reference
  		trajectory).
  		
  		If the 'tasks' variable is provided, it should be a list of
  		tasks for which the desired values should be set.
docstring_summary: Sets all the tasks' desired velocities from a given pair
  		of configurations separated by dt (e.g., to follow a reference
  		trajectory).
  		
  		If the 'tasks' variable is provided, it should be a list of
  		tasks for which the desired values should be set.
docstring_tokens: Sets all the tasks desired velocities from a given pair of configurations separated by dt ( e . g . to follow a reference trajectory ) . If the tasks variable is provided it should be a list of tasks for which the desired values should be set .
function: def setDesiredVelocitiesFromDifference(self,qdes0,qdes1,dt,tasks=None):
  		"""Sets all the tasks' desired velocities from a given pair
  		of configurations separated by dt (e.g., to follow a reference
  		trajectory).
  		
  		If the 'tasks' variable is provided, it should be a list of
  		tasks for which the desired values should be set.
  		"""
  		if tasks == None:
  			tasks = self.taskList
  		for t in tasks:
  			xdes0 = t.getSensedValue(qdes0)
  			xdes1 = t.getSensedValue(qdes1)
  			dx = vectorops.div(t.taskDifference(xdes1,xdes0),dt)
  			t.setDesiredVelocity(dx)
function_tokens: def setDesiredVelocitiesFromDifference ( self , qdes0 , qdes1 , dt , tasks = None ) : if tasks == None : tasks = self . taskList for t in tasks : xdes0 = t . getSensedValue ( qdes0 ) xdes1 = t . getSensedValue ( qdes1 ) dx = vectorops . div ( t . taskDifference ( xdes1 , xdes0 ) , dt ) t . setDesiredVelocity ( dx )