RightKneeOnly/ContactForces.scilab File Reference

Compute the contact forces. More...


Functions

rets ContactForces (type q, type qdot, type qddot, type Torques, type ContactState)
 Compute the contact forces.


Detailed Description

Compute the contact forces.

Author:
Pierre-Brice Wieber
Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications: $Log$ Revision 1.3 2005/05/04 13:13:15 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:17 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:08:23 rpissard version start HuMAnS


Function Documentation

rets ContactForces ( type  q,
type  qdot,
type  qddot,
type  Torques,
type  ContactState 
)

Compute the contact forces.

Parameters:
q (float vector, size = NDOF) position
qdot (float vector, size = NDOF) velocity
qddot (float vector, size = NDOF) acceleration
Torques (float vector, size = NDOF) generalized Torques
ContactState (boolean vector, size = NCONTACTS) state of Contacts
Returns:
lambda (float vector, size = NCONTACTS) contact forces

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Generated on Tue Mar 6 14:12:05 2007 for HuMAnS by doxygen 1.4.7