BipActuators/TaskFunctionControl/TaskFunctionDefinition/TaskFunctionDefinition.h

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/* Copyright (C) INRIA 1999-2005
** 
** This program is free software; you can redistribute it and/or modify it
** under the terms of the GNU General Public License version 2 as published
** by the Free Software Foundation.
** 
** This program is distributed in the hope that it will be useful, but
** WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
** Public License for more details.
** 
** You should have received a copy of the GNU General Public License along
** with this program; if not, write to the Free Software Foundation, Inc.,
** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
** 
*/
#ifndef __taskfunctiondefinition_h
#define __taskfunctiondefinition_h

#ifdef WINDOWS
#define extern __declspec (dllexport)
#endif


extern void RightFootForce(double RF[126],double q[21]);


extern void LeftFootForce(double LF[126],double q[21]);

extern void SuspensionForce(double SF[126],double q[21]);

extern void TaskFunction(double *T, double *q);

extern void TaskJacobian(double J[441], double q[21]);

extern void TaskNLEffects(double H[21], double q[21], double qdot[21]);
#endif

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