PA10/LagrangianModel.h

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/* Copyright (C) INRIA 1999-2005
** 
** This program is free software; you can redistribute it and/or modify it
** under the terms of the GNU General Public License version 2 as published
** by the Free Software Foundation.
** 
** This program is distributed in the hope that it will be useful, but
** WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
** Public License for more details.
** 
** You should have received a copy of the GNU General Public License along
** with this program; if not, write to the Free Software Foundation, Inc.,
** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
** 
*/
#ifndef __LagrangianModel_h
#define __LagrangianModel_h

#ifdef WINDOWS
#define extern __declspec (dllexport)
#endif

/* A mettre dans la generation maple !!! */
#define NDOF 7
#define NTAGS (10+1)
#define NCONT 5

#define VFRIC1    10
#define VFRIC2    10
#define VFRIC3     5
#define VFRIC4     5
#define VFRIC5     2
#define VFRIC6     2
#define VFRIC7     2

#define SFRIC1     0
#define SFRIC2     0
#define SFRIC3     0
#define SFRIC4     0
#define SFRIC5     0
#define SFRIC6     0
#define SFRIC7     0


extern void Friction(double F[NDOF], double q[NDOF], double qdot[NDOF]);

extern  void
Contact(double *CC,double *q);

extern void
ContactJacobian(double *CJ,double *q);

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

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

extern void 
Inertia(double *M,double *q);

extern void 
Tags(double *T, double *q);



#endif /* __LagrangianModel_h */

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