The cast function is called twice to cast the values of the input parameters (for city and state) to appropriate data types.

CAST函数被调用两次，以将输入参数的值(针对城市和州)强制转换适当的数据类型。

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The transition diagram also includes input symbols (in this case XML tags) and a transition function that controls how input symbols modify the state.

转换图还包含 输入符号（在本例中为 XML 标记）和控制输入符号如何修改状态的 转换函数。

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The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.

广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。

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