Human/LagrangianModel.h File Reference

Compute the complete Dynamics. More...

Go to the source code of this file.

Defines

#define NCONT   10
#define NDOF   21
#define NTAGS   (19+1)

Functions

void Contact (double *CC, double *q)
 Compute the matrix of contact for a given bipede state.
void ContactHessian (double *H, double *q, double *qdot)
 Compute the vector of contact hessians for a given bipede state.
void ContactJacobian (double *CJ, double *q)
 Compute the matrix of contact jacobian for a given bipede state.
void Inertia (double *M, double *q)
 Compute the matrix of inertia for a given bipede state.
void NLEffects (double *N, double *q, double *qdot)
 Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.
void Tags (double *T, double *q)
 Compute the matrix of tags for a given bipede state This matrix is made up of caracteristic points of bipede in the absolute referential.


Detailed Description

Compute the complete Dynamics.

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

Define Documentation

#define NCONT   10

#define NDOF   21

#define NTAGS   (19+1)


Function Documentation

void Contact ( double *  CC,
double *  q 
)

Compute the matrix of contact for a given bipede state.

Parameters:
[out] CC Matrix of contact dim NCONTx3(xyz)
[in] q Joint State Vector dim NDOF

void ContactHessian ( double *  H,
double *  q,
double *  qdot 
)

Compute the vector of contact hessians for a given bipede state.

Parameters:
[out] H Vector of Contact Hessians dim NCONT*3
[in] q Joint State Vector dim NDOF
[in] qdot Articular Velocity State Vector dim NDOF

void ContactJacobian ( double *  CJ,
double *  q 
)

Compute the matrix of contact jacobian for a given bipede state.

Parameters:
[out] CJ Matrix of Contact Jacobian dim (3xNCONT)*NDOF
[in] q Joint State Vector dim NDOF

void Inertia ( double *  M,
double *  q 
)

Compute the matrix of inertia for a given bipede state.

Parameters:
[out] M Matrix of Inertia dim NDOFxNDOF
[in] q Joint State Vector dim NDOF

void NLEffects ( double *  N,
double *  q,
double *  qdot 
)

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

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

void Tags ( double *  T,
double *  q 
)

Compute the matrix of tags for a given bipede state This matrix is made up of caracteristic points of bipede in the absolute referential.

The end of matrix T contains the coordinate of the biped mass center

Parameters:
[out] T Matrix of contact dim 60 = NTAGSx3(xyz)
[in] q Joint State Vector dim NDOF

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