Complete/ContactForces.scilab File Reference

Compute the contact forces. More...

Functions
rets	ContactForces (type q, type qdot, type qddot, type Torques, type ContactState)
	Compute the contact forces.

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Detailed Description

Compute the contact forces.

Author:

Pierre-Brice Wieber, Christine Azevedo

Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications: $Log$ Revision 1.7 2005/07/24 23:40:12 wieber Degraded once more the constant of the dynamics satisfaction to avoid unnecessary pesky messages.

Revision 1.6 2005/07/21 11:47:09 wieber Degraded the constant of the dynamics satisfaction to avoid pesky messages.

Revision 1.5 2005/05/04 13:13:15 billet Correction and changes for doxygen documentation

Revision 1.4 2005/05/03 11:45:16 billet Comments for doxygen documentation

Revision 1.3 2005/05/02 10:17:14 wieber Removed an undue error message when there are no active contacts.

Revision 1.2 2005/04/07 15:38:37 wieber Added the possibility to restrict the dynamics to a set of ActiveDOF.

Revision 1.1.1.1 2005/02/08 13:08:23 rpissard version start HuMAnS

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Function Documentation

rets ContactForces	(	type	q,
		type	qdot,
		type	qddot,
		type	Torques,
		type	ContactState
	)

Compute the contact forces.

Parameters:

	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	qddot	(float vector, size = NDOF) acceleration
	Torques	(float vector, size = NDOF) generalized torques
	ContactState	(boolean vector, size = NCONTACTS) state of contacts

Returns:

lambda (float vector, size = 3*NCONTACTS) contact forces

HuMAnS

humans-users@inrialpes.fr

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