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.


Detailed Description

Compute Contact Forces.

Author:
pierre-Brice Wieber
Affiliation(s): INRIA, team BIPOP

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


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

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