Simulation.scilab File Reference

Compute the simulation. More...

Functions
rets	Simulation (type InitialTime, type FinalTime, type SamplingPeriod, type InitialPosition, type InitialVelocity)
	Compute the simulation.

---

Detailed Description

Compute the simulation.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

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

---

Function Documentation

rets Simulation	(	type	InitialTime,
		type	FinalTime,
		type	SamplingPeriod,
		type	InitialPosition,
		type	InitialVelocity
	)

Compute the simulation.

Parameters:

	InitialTime	(float)
	FinalTime	(float)
	SamplingPeriod	(float)
	InitialPosition	(float vector,size = NDOF)
	InitialVelocity	(float vector,size = NDOF)

Returns:

T (float vector, size = NSAMPLINGS) times

Q (float vector, size = NDOF x NSAMPLINGS) trajectory

QDOT (float vector, size = NDOF x NSAMPLINGS) velocity on trajectory

Z (float vector, size depends of application)

ACTUATIONSTATE (boolean vector, size variable and depends of application) state of switchs actuators

CONTACTSTATE (boolean vector, size = NCONTACTS) state of contact

HuMAnS

humans-users@inrialpes.fr

---