PA10/LagrangianModel.h File Reference

Compute the complete Dynamics. More...

Go to the source code of this file.

Defines
#define	NCONT   5
#define	NDOF   7
#define	NTAGS   (10+1)
#define	SFRIC1   0
#define	SFRIC2   0
#define	SFRIC3   0
#define	SFRIC4   0
#define	SFRIC5   0
#define	SFRIC6   0
#define	SFRIC7   0
#define	VFRIC1   10
#define	VFRIC2   10
#define	VFRIC3   5
#define	VFRIC4   5
#define	VFRIC5   2
#define	VFRIC6   2
#define	VFRIC7   2
Functions
void	Contact (double *CC, double *q)
	Compute the matrix of contact for a given robot state.
void	ContactHessian (double *H, double *q, double *qdot)
	Compute the vector of contact hessians for a given robot state.
void	ContactJacobian (double *CJ, double *q)
	Compute the matrix of contact jacobian for a given robot state.
void	Friction (double F[NDOF], double q[NDOF], double qdot[NDOF])
	Compute the friction.
void	Inertia (double *M, double *q)
	Compute the matrix of inertia for a given robot state.
void	NLEffects (double *N, double *q, double *qdot)
	Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given robot state.
void	Tags (double *T, double *q)
	Compute the matrix of tags for a given robot state This matrix is made up of caracteristic points of robot in the absolute referential.

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Detailed Description

Compute the complete Dynamics.

Author:

: Florence Billet Affiliation(s): INRIA, team BIPOP Email(s): florence.billet@inria.fr

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Define Documentation

#define NCONT   5

#define NDOF   7

#define NTAGS   (10+1)

#define SFRIC1   0

#define SFRIC2   0

#define SFRIC3   0

#define SFRIC4   0

#define SFRIC5   0

#define SFRIC6   0

#define SFRIC7   0

#define VFRIC1   10

#define VFRIC2   10

#define VFRIC3   5

#define VFRIC4   5

#define VFRIC5   2

#define VFRIC6   2

#define VFRIC7   2

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Function Documentation

void Contact	(	double *	CC,
		double *	q
	)

Compute the matrix of contact for a given robot 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
	)

Compute the vector of contact hessians for a given robot 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
	)

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

Parameters:

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

void Friction	(	double	F[NDOF],
		double	q[NDOF],
		double	qdot[NDOF]
	)

Compute the friction.

Parameters:

[out]	F	Matrix of friction dim NDOF
[in]	q	Joint State Vector dim NDOF
[in]	qdot	Velocity Vector dim NDOF

void Inertia	(	double *	M,
		double *	q
	)

Compute the matrix of inertia for a given robot state.

Parameters:

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

void NLEffects	(	double *	N,
		double *	q,
		double *	qdot
	)

Compute the matrix of Non Linear Effect (Coriolis + Gravity) for a given robot 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 Tags	(	double *	T,
		double *	q
	)

Compute the matrix of tags for a given robot state This matrix is made up of caracteristic points of robot 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 = NTAGSx3(xyz)
[in]	q	Joint State Vector dim NDOF

HuMAnS

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