BipActuators/TaskFunctionControl/TaskFunctionDefinition/TaskFunctionDefinition.h File Reference

Task Function implementation. More...

Go to the source code of this file.

Functions

void LeftFootForce (double LF[126], double q[21])
 Compute the jacobian matrix of the left foot force for a given bipede state q.
void RightFootForce (double RF[126], double q[21])
 Compute the jacobian matrix of the right foot force for a given bipede state q.
void SuspensionForce (double SF[126], double q[21])
 Compute the jacobian matrix of the suspension force for a given bipede state q.
void TaskFunction (double *T, double *q)
 Compute the vector s(q) matching to the task function for a given bipede state q.
void TaskJacobian (double J[441], double q[21])
 Compute the jacobian matrix of the task function for a given bipede state q.
void TaskNLEffects (double H[21], double q[21], double qdot[21])
 Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.


Detailed Description

Task Function implementation.

Author:
: Pierre-Brice Wieber Affiliation(s): INRIA, team BIPOP Email(s): Pierre-Brice.Wieber@inria.fr

Function Documentation

void LeftFootForce ( double  LF[126],
double  q[21] 
)

Compute the jacobian matrix of the left foot force for a given bipede state q.

Parameters:
[out] LF Jacobian matrix of the left foot force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in] q Joint State Vector dim NDOF

void RightFootForce ( double  RF[126],
double  q[21] 
)

Compute the jacobian matrix of the right foot force for a given bipede state q.

Parameters:
[out] RF Jacobian matrix of the right foot force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in] q Joint State Vector dim NDOF

void SuspensionForce ( double  SF[126],
double  q[21] 
)

Compute the jacobian matrix of the suspension force for a given bipede state q.

Parameters:
[out] SF Jacobian matrix of the suspension force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in] q Joint State Vector dim NDOF

void TaskFunction ( double *  T,
double *  q 
)

Compute the vector s(q) matching to the task function for a given bipede state q.

Parameters:
[out] T vector matching to the output function dim NDOF
[in] q Joint State Vector dim NDOF

void TaskJacobian ( double  J[441],
double  q[21] 
)

Compute the jacobian matrix of the task function for a given bipede state q.

Parameters:
[out] J Jacobian matrix of the output function dim NDOFxNDOF
[in] q Joint State Vector dim NDOF

void TaskNLEffects ( double  H[21],
double  q[21],
double  qdot[21] 
)

Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.

Parameters:
[out] H Matrix of Coriolis dim NDOF
[in] q joint State Vector dim NDOF
[in] qdot Articular Velocity State Vector dim NDOF

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