BipActuators/ActuationDynamics.scilab File Reference

Compute the generalized Torques generated by actuators. More...

Functions
rets	ActuationDynamics (type t, type q, type qdot, type z, type State)
	Compute the generalized Torques generated by actuators.

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Detailed Description

Compute the generalized Torques generated by actuators.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

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

Description:

Modifications: $Log$ Revision 1.4 2005/05/04 13:13:13 billet Correction and changes for doxygen documentation

Revision 1.3 2005/05/03 11:45:04 billet Comments for doxygen documentation

Revision 1.2 2005/03/17 17:10:48 rpissard Doxygen building

Revision 1.1.1.1 2005/02/08 13:04:26 rpissard version start HuMAnS

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Function Documentation

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

Compute the generalized Torques generated by actuators.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	z	(float vector, size = 0)
	State	(float vector, variable size >= 2 + 2*NMOTORS + NDOF) state of actuators

Returns:

zdot (float vector, size = 0)

Torques (float vector, size = NMOTORS) generalized torques

HuMAnS

humans-users@inrialpes.fr

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