Functions | |
rets | ComputeContactForces (type T, type Q, type QDOT, type Z, type ACTUATIONSTATE, type CONTACTSTATE) |
Compute the contact forces. |
Email(s): Pierre-Brice.Wieber@inria.fr
rets ComputeContactForces | ( | type | T, | |
type | Q, | |||
type | QDOT, | |||
type | Z, | |||
type | ACTUATIONSTATE, | |||
type | CONTACTSTATE | |||
) |
Compute the contact forces.
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 |
HuMAnS |