NoDynamics/TaskFunctionControl/RX90TaskFunctionDefinition/TaskFunctionDefinition.h File Reference

Go to the source code of this file.

Functions

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.


Function Documentation

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

HuMAnS

humans-users@inrialpes.fr


Generated on Tue Mar 6 14:12:06 2007 for HuMAnS by doxygen 1.4.7