HuMAnS: ObserverGeometry.h Source File

00001 /* Copyright (C) INRIA 1999-2005
00002 ** 
00003 ** This program is free software; you can redistribute it and/or modify it
00004 ** under the terms of the GNU General Public License version 2 as published
00005 ** by the Free Software Foundation.
00006 ** 
00007 ** This program is distributed in the hope that it will be useful, but
00008 ** WITHOUT ANY WARRANTY; without even the implied warranty of
00009 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
00010 ** Public License for more details.
00011 ** 
00012 ** You should have received a copy of the GNU General Public License along
00013 ** with this program; if not, write to the Free Software Foundation, Inc.,
00014 ** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00015 ** 
00016 */
00026 #ifndef __ObserverGeometry_h
00027 #define __ObseverGeometry_h
00028 
00029 #ifdef WINDOWS
00030 #define extern __declspec (dllexport)
00031 #endif
00032 
00033 extern 
00034 void LeftFootJacobian(double JCG[126], double q[21]);
00035 
00036 extern 
00037 void RightFootJacobian(double JCD[126], double q[21]);
00038 
00039 extern
00040 void RightFootObserver(double PCD[6], double q[21]);
00041 
00042 extern
00043 void LeftFootObserver(double PCG[6], double q[21]);
00044 
00045 extern 
00046 void SuspensionJacobian(double JS[126], double q[21]);
00047 
00048 extern 
00049 void SuspensionObserver(double PS[6], double q[21]);
00050 
00051 #endif
00052