ComputeContactForces.scilab File Reference

Compute Contact Forces. More...

Functions
rets	ComputeContactForces (type T, type Q, type QDOT, type Z, type ACTUATIONSTATE, type CONTACTSTATE)
	Compute the contact forces.

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Detailed Description

Compute Contact Forces.

Author:

pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

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

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Function Documentation

rets ComputeContactForces	(	type	T,
		type	Q,
		type	QDOT,
		type	Z,
		type	ACTUATIONSTATE,
		type	CONTACTSTATE
	)

Compute the contact forces.

Parameters:

	T	(float) time
	Q	(float vector, size = NDOF x NSAMPLINGS) trajectory
	QDOT	(float vector, size = NDOF x NSAMPLINGS) velocity of trajectory
	Z	(float vector, size depends of application) depends of application
	ACTUATIONSTATE	(boolean vector, variable size) state of actuators switchs
	CONTACTSTATE	(boolean vector, size = NCONTACTS) state of contact

Returns:

LAMBDA (float vector, size depends of application) contact forces

HuMAnS

humans-users@inrialpes.fr

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