You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: Vel_Test.m
    path of file: ./repos/SPART/tests
    
    the code of the file until where you have to start completion: function Vel_Test(robot,Variables)
%This function test the Inverse Dynamics recursive functions by comparing them to the solutions obtained by H*qddot+C*qdot=tau+J'w.

%--- Assign variables ---%
%Base position
R0=eye(3);%Variables.R0;
r0=zeros(3,1);%Variables.r0;

%Joint variables
qm=Variables.qm;

%Velocities
u0=Variables.u0;
um=Variables.um;


    
function Vel_Test(robot,Variables)
%This function test the Inverse Dynamics recursive functions by comparing them to the solutions obtained by H*qddot+C*qdot=tau+J'w.

%--- Assign variables ---%
%Base position
R0=eye(3);%Variables.R0;
r0=zeros(3,1);%Variables.r0;

%Joint variables
qm=Variables.qm;

%Velocities
u0=Variables.u0;
um=Variables.um;

%--- Compute NOC and velocities ---%
%Kinematics
[RJ,RL,rJ,rL,e,g]=Kinematics(R0,r0,qm,robot);
%Differential Kinematics
[Bij,Bi0,P0,pm]=DiffKinematics(R0,r0,rL,e,g,robot);
%Jacobians (in the form of NOC)
[N] = NOC(r0,rL,P0,pm,robot);
%Velocities from NOC
t_NOC=N*[u0;um];


%--- Velocities ---%
[t0,tm]=Velocities(Bij,Bi0,P0,pm,u0,um,robot);

%Test
test=abs(t_NOC-[t0;tm(:)])<1e-6;
assert(all(test(:)));

end