RightKneeOnly/LagrangianDynamics.scilab File Reference

Compute the acceleration qddot. More...


Functions

rets LagrangianDynamics (type t, type q, type qdot, type Torques, type ContactState)
 Compute the acceleration qddot.


Detailed Description

Compute the acceleration qddot.

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 LagrangianDynamics ( type  t,
type  q,
type  qdot,
type  Torques,
type  ContactState 
)

Compute the acceleration qddot.

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

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