Complete/LagrangianDynamics.scilab File Reference

Compute the Lagrangian Dynamics. More...

Functions
rets	LagrangianDynamics (type t, type q, type qdot, type Torques, type ContactState)
	Compute the acceleration of the system for a position q, a velocity qdot and a set of generalized Torques and for a specific ContactState.

---

Detailed Description

Compute the Lagrangian Dynamics.

Author:

Pierre-Brice Wieber, Christine Azevedo

Affiliation(s): INRIA, team BIPOP

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

Description:

Modifications: $Log$ Revision 1.4 2005/05/04 13:13:15 billet Correction and changes for doxygen documentation

Revision 1.3 2005/05/03 11:45:17 billet Comments for doxygen documentation

Revision 1.2 2005/04/07 15:38:37 wieber Added the possibility to restrict the dynamics to a set of ActiveDOF.

Revision 1.1.1.1 2005/02/08 13:08:22 rpissard version start HuMAnS

---

Function Documentation

rets LagrangianDynamics	(	type	t,
		type	q,
		type	qdot,
		type	Torques,
		type	ContactState
	)

Compute the acceleration of the system for a position q, a velocity qdot and a set of generalized Torques and for a specific ContactState.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	Torques	(float vector, size = NDOF) generalized torques
	ContactState	(boolean vector, size = NCONTACTS) state of contact

Returns:

qddot (float vector, size = NDOF) acceleration

HuMAnS

humans-users@inrialpes.fr

---