Human36/LagrangianModel.h File Reference

Go to the source code of this file.

Defines
#define	NCONT   12
#define	NDOF   42
#define	NLANAT   31
#define	NLTAGS   (3*NTAGS)
#define	NSOL   17
#define	NTAGS   28
Functions
void	Contact (double *CC, double *q, double *L, double *AddL)
	Compute the matrix of contact for a given bipede state.
void	ContactHessian (double *H, double *q, double *qdot, double *L, double *AddL)
	Compute the vector of contact hessians for a given bipede state.
void	ContactJacobian (double *CJ, double *q, double *L, double *AddL)
	Compute the matrix of contact jacobian for a given bipede state.
void	GetAnatomicalLengths (double *anatLengths)
	Get the model anatomical lengths.
void	GetModelMass (double *subjectMass)
	Get the model mass.
void	GetModelSize (double *subjectSize)
	Get the model height.
void	GetTag2JointLengths (double *tagLengths)
	Get the model tags positions in their attached segment frames.
void	Inertia (double *M, double *q, double *L, double *AddL, double Mass)
	Compute the matrix of inertia for a given bipede state.
void	NLEffects (double *N, double *q, double *qdot, double *L, double *AddL, double Mass)
	Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.
void	SetAnatomicalLengths (double *anatLengths)
	Set the model anatomical lengths.
void	SetModelMass (double *subjectMass)
	Set the model mass.
void	SetModelSize (double *subjectSize)
	Set the model height.
void	SetTag2JointLengths (double *tagLengths)
	Set the model tags positions in their attached segment frames.
void	Tags (double *T, double *q, double *L, double *AddL, double Mass)
	Compute the matrix of tags for a given bipede state This matrix is made up of caracteristic points of bipede in the absolute referential.

---

Define Documentation

#define NCONT   12

#define NDOF   42

#define NLANAT   31

#define NLTAGS   (3*NTAGS)

#define NSOL   17

#define NTAGS   28

---

Function Documentation

void Contact	(	double *	CC,
		double *	q,
		double *	L,
		double *	AddL
	)

Compute the matrix of contact for a given bipede state.

Parameters:

[out]	CC	Matrix of contact dim NCONTx3(xyz)
[in]	q	Joint State Vector dim NDOF

void ContactHessian	(	double *	H,
		double *	q,
		double *	qdot,
		double *	L,
		double *	AddL
	)

Compute the vector of contact hessians for a given bipede state.

Parameters:

[out]	H	Vector of Contact Hessians dim NCONT*3
[in]	q	Joint State Vector dim NDOF
[in]	qdot	Articular Velocity State Vector dim NDOF

void ContactJacobian	(	double *	CJ,
		double *	q,
		double *	L,
		double *	AddL
	)

Compute the matrix of contact jacobian for a given bipede state.

Parameters:

[out]	CJ	Matrix of Contact Jacobian dim (3xNCONT)*NDOF
[in]	q	Joint State Vector dim NDOF

void GetAnatomicalLengths

(

double *

anatLengths

)

Get the model anatomical lengths.

Parameters:

[out]

anatLengths

anatomical lengths (in meter) row vector dim NLANAT

void GetModelMass

(

double *

subjectMass

)

Get the model mass.

Parameters:

[out]

modelMass

Model Mass (in kg) dim 1

void GetModelSize

(

double *

subjectSize

)

Get the model height.

Parameters:

[out]

modelSize

Model Height (in meter) dim 1

void GetTag2JointLengths

(

double *

tagLengths

)

Get the model tags positions in their attached segment frames.

Parameters:

[out]

tag2JointLengths

Row vector of the tags positions in their attached segment frames. The positions are given in meter dim (NTAGS - 1)*3

void Inertia	(	double *	M,
		double *	q,
		double *	L,
		double *	AddL,
		double	Mass
	)

Compute the matrix of inertia for a given bipede state.

Parameters:

[out]	M	Matrix of Inertia dim NDOFxNDOF
[in]	q	Joint State Vector dim NDOF

void NLEffects	(	double *	N,
		double *	q,
		double *	qdot,
		double *	L,
		double *	AddL,
		double	Mass
	)

Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given bipede state.

Parameters:

[out]	N	Matrix of Coriolis dim NDOF
[in]	q	joint State Vector dim NDOF
[in]	qdot	Articular Velocity State Vector dim NDOF

void SetAnatomicalLengths

(

double *

anatLengths

)

Set the model anatomical lengths.

Parameters:

[in]

anatLengths

anatomical lengths (in meter) row vector dim NLANAT

void SetModelMass

(

double *

subjectMass

)

Set the model mass.

Parameters:

[in]

modelMass

Model Mass (in kg) dim 1

void SetModelSize

(

double *

subjectSize

)

Set the model height.

Parameters:

[in]

modelSize

Model height (in meter) dim 1

void SetTag2JointLengths

(

double *

tagLengths

)

Set the model tags positions in their attached segment frames.

Parameters:

[in]

tag2JointLengths

Row vector of the tags positions in their attached segment frames. The positions are given in meter dim (NTAGS - 1)*3

void Tags	(	double *	T,
		double *	q,
		double *	L,
		double *	AddL,
		double	Mass
	)

Compute the matrix of tags for a given bipede state This matrix is made up of caracteristic points of bipede in the absolute referential.

The end of matrix T contains the coordinate of the biped mass center

Parameters:

[out]	T	Matrix of contact dim 60 = (NTAGS+1)x3(xyz)
[in]	q	Joint State Vector dim NDOF

HuMAnS

humans-users@inrialpes.fr

---