BipSensors.scilab File Reference

Emule the sensors of Bip Robot. More...

Functions
rets	BipSensors (type t, type q, type qdot, type ContactState, type ActuationState)
	Emule the sensors of Bip Robot.

---

Detailed Description

Emule the sensors of Bip Robot.

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

---

Function Documentation

rets BipSensors	(	type	t,
		type	q,
		type	qdot,
		type	ContactState,
		type	ActuationState
	)

Emule the sensors of Bip Robot.

Give the articular position and the force sensors FEET

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	ContactState	(boolean vector, size = NCONTACTS) state of contact
	ActuationState	(float vector, size = variable, >= 4*Nmuscles + 2 )

Returns:

q1 (float vector, size = NMOTORS) position

feet (float vector, size = NFEETSENSORS = 6) sensors of forces

HuMAnS

humans-users@inrialpes.fr

---