HuMAnS: LagrangianModel.h Source File

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 6
00036 #define NTAGS (12+1)
00037 #define NCONT 2
00038 
00039 
00040 
00047 void SpringForce(double S[NDOF], double q[NDOF]);
00048 
00055 extern  void
00056 Contact(double *CC,double *q);
00057 
00064 extern void
00065 ContactJacobian(double *CJ,double *q);
00066 
00074 extern void
00075 ContactHessian(double *H,double *q, double *qdot);
00076 
00085 extern void
00086 NLEffects(double *N, double *q, double *qdot);
00087 
00094 extern void 
00095 Inertia(double *M,double *q);
00096 
00106 extern void 
00107 Tags(double *T, double *q);
00108 
00109 
00110 
00111 #endif /* __LagrangianModel_h */
RX90/LagrangianModel.h

HuMAnS
