Jacadi.scilab File Reference

Compute a position which minimize consommation energyand which satisfy a selection of constraints. More...

Functions
rets	Jacadi (type selection, type constraints_desired, type support)
	Compute the position which minimize the consommation of energy when the robot doesn't move and which satisfy the articular limits and a selection of constraints of desired positions.

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Detailed Description

Compute a position which minimize consommation energyand which satisfy a selection of constraints.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

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

Description:

Modifications: $Log$ Revision 1.4 2006/06/10 11:23:14 alexandre Minor modifications for Kondo

Revision 1.3 2005/07/28 08:46:44 billet Minor modifications for Doxygen Documentation and for makefile for JacadiModel

Revision 1.2 2005/07/22 04:18:58 wieber Increased the maximum number of iterations from 200 to 500.

Revision 1.1 2005/07/21 11:43:02 wieber Added a non-Bip-centric Jacadi to the Kernel.

Revision 1.3 2005/05/04 13:13:16 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:20 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:08:19 rpissard version start HuMAnS

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Function Documentation

rets Jacadi	(	type	selection,
		type	constraints_desired,
		type	support
	)

Compute the position which minimize the consommation of energy when the robot doesn't move and which satisfy the articular limits and a selection of constraints of desired positions.

Parameters:

	selection	(int vector, size depends of users) selection of constraints
	contraintes_desiree	(float vector, size = size of selection) desired constraints
	appuis	(int) information on contact

Returns:

q (float vector, size = NDOF) position

HuMAnS

humans-users@inrialpes.fr

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