NoDynamics/ActuationDynamics.scilab File Reference

Compute the generalized Torques. More...

Functions
rets	ActuationDynamics (type t, type q, type qdot, type z, type State)
	Compute the generalized Torques.

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Detailed Description

Compute the generalized Torques.

Author:

Pierre-Brice Wieber, Christine Azevedo

Affiliation(s): INRIA, team BIPOP

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

Description:

Modifications: $Log$ Revision 1.3 2005/05/04 13:13:13 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:10 billet Comments for doxygen documentation

Revision 1.1 2005/04/06 12:27:37 wieber Added a NoDynamics ActuationModel with a ComputedTorqueControl.

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Function Documentation

rets ActuationDynamics	(	type	t,
		type	q,
		type	qdot,
		type	z,
		type	State
	)

Compute the generalized Torques.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	z	(float vector, size = 0)
	State	(float vector, size = 0)

Returns:

zdot (float vector, size = 0)

Torques (float vector, size = NDOF) generalized torques

HuMAnS

humans-users@inrialpes.fr

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