HuMAnS
Functions | |
| rets | Trajectory (type t) |
| Compute the position, velocity and acceleration desired at a given time t. | |
Email(s): Pierre-Brice.Wieber@inria.fr
Description:
Modifications: $Log$ Revision 1.6 2005/07/24 23:41:25 wieber Added the possibility to interpolate between key positions with polynomials of degree 5.
Revision 1.5 2005/07/21 16:34:59 billet Add return parameter contacts in Doxygen Documentation
Revision 1.4 2005/07/21 12:07:12 wieber Made the ComputedTorqueControl of the NoDynamics ActuationModel less Human-centric.
Revision 1.3 2005/05/04 13:13:13 billet Correction and changes for doxygen documentation
Revision 1.2 2005/05/03 11:45:10 billet Comments for doxygen documentation
Revision 1.1 2005/04/06 12:27:39 wieber Added a NoDynamics ActuationModel with a ComputedTorqueControl.
| rets Trajectory | ( | type | t | ) |
Compute the position, velocity and acceleration desired at a given time t.
| t | (float) time |
velocity (float vector, size = NDOF) desired velocity
acceleration (float vector, size = NDOF) desired acceleration
contacts (int vector, variable size <= NCONTACTS ) number of the lines of contact vector which correspond to effectives contacts at t.
HuMAnS |
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1.4.7