HuMAnS
00001 /* Copyright (C) INRIA 1999-2005 00002 ** 00003 ** This program is free software; you can redistribute it and/or modify it 00004 ** under the terms of the GNU General Public License version 2 as published 00005 ** by the Free Software Foundation. 00006 ** 00007 ** This program is distributed in the hope that it will be useful, but 00008 ** WITHOUT ANY WARRANTY; without even the implied warranty of 00009 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 00010 ** Public License for more details. 00011 ** 00012 ** You should have received a copy of the GNU General Public License along 00013 ** with this program; if not, write to the Free Software Foundation, Inc., 00014 ** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00015 ** 00016 */ 00027 #ifndef __LagrangianModel_h 00028 #define __LagrangianModel_h 00029 00030 #ifdef WINDOWS 00031 #define extern __declspec (dllexport) 00032 #endif 00033 00034 /* A mettre dans la generation maple !!! */ 00035 #define NDOF 21 00036 #define NTAGS (19+1) 00037 #define NCONT 10 00038 00045 extern void 00046 Contact(double *CC,double *q); 00047 00054 extern void 00055 ContactJacobian(double *CJ,double *q); 00056 00064 extern void 00065 ContactHessian(double *H,double *q, double *qdot); 00066 00075 extern void 00076 NLEffects(double *N, double *q, double *qdot); 00077 00084 extern void 00085 Inertia(double *M,double *q); 00086 00096 extern void 00097 Tags(double *T, double *q); 00098 00099 #endif /* __LagrangianModel_h */
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1.4.7