StaticCalciumRightKneeMuscles/ActuationDynamics.scilab File Reference

Compute the generalized Torques and derivative of tightness and forces of muscles. More...


Functions

rets ActuationDynamics (type t, type q, type qdot, type z, type State)
 Compute the generalized Torques and derivative of tightness and forces of muscles.


Detailed Description

Compute the generalized Torques and derivative of tightness and forces of muscles.

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 13:13:14 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:12 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:05:04 rpissard version start HuMAnS


Function Documentation

rets ActuationDynamics ( type  t,
type  q,
type  qdot,
type  z,
type  State 
)

Compute the generalized Torques and derivative of tightness and forces of muscles.

Parameters:
t (float) time
q (float vector, size = NDOF) position
qdot (float vector, size = NDOF) velocity
z (float vector, size = 2*Nmuscles) tightness and forces of muscles
State (float vector, size = variable, >= 4*Nmuscles + 2 ) state of actuators switchs
Returns:
zdot (float vector, size = 2*Nmuscles) derivate tightness and derivate forces of muscles

Torques (float vector, size = NDOF) generalized torques

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