BipActuators/TaskFunctionControl/TaskFunctionDefinition/TaskFunctionDefinition.h File Reference

Task Function implementation. More...

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Functions
void	LeftFootForce (double LF[126], double q[21])
	Compute the jacobian matrix of the left foot force for a given bipede state q.
void	RightFootForce (double RF[126], double q[21])
	Compute the jacobian matrix of the right foot force for a given bipede state q.
void	SuspensionForce (double SF[126], double q[21])
	Compute the jacobian matrix of the suspension force for a given bipede state q.
void	TaskFunction (double *T, double *q)
	Compute the vector s(q) matching to the task function for a given bipede state q.
void	TaskJacobian (double J[441], double q[21])
	Compute the jacobian matrix of the task function for a given bipede state q.
void	TaskNLEffects (double H[21], double q[21], double qdot[21])
	Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.

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Detailed Description

Task Function implementation.

Author:

: Pierre-Brice Wieber Affiliation(s): INRIA, team BIPOP Email(s): Pierre-Brice.Wieber@inria.fr

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Function Documentation

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

Compute the jacobian matrix of the left foot force for a given bipede state q.

Parameters:

[out]	LF	Jacobian matrix of the left foot force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in]	q	Joint State Vector dim NDOF

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

Compute the jacobian matrix of the right foot force for a given bipede state q.

Parameters:

[out]	RF	Jacobian matrix of the right foot force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in]	q	Joint State Vector dim NDOF

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

Compute the jacobian matrix of the suspension force for a given bipede state q.

Parameters:

[out]	SF	Jacobian matrix of the suspension force dim NDOFxNFEETSENSORS (NFEETSENSORS = 6)
[in]	q	Joint State Vector dim NDOF

void TaskFunction	(	double *	T,
		double *	q
	)

Compute the vector s(q) matching to the task function for a given bipede state q.

Parameters:

[out]	T	vector matching to the output function dim NDOF
[in]	q	Joint State Vector dim NDOF

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

Compute the jacobian matrix of the task function for a given bipede state q.

Parameters:

[out]	J	Jacobian matrix of the output function dim NDOFxNDOF
[in]	q	Joint State Vector dim NDOF

void TaskNLEffects	(	double	H[21],
		double	q[21],
		double	qdot[21]
	)

Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.

Parameters:

[out]	H	Matrix of Coriolis dim NDOF
[in]	q	joint State Vector dim NDOF
[in]	qdot	Articular Velocity State Vector dim NDOF

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