RX90/LagrangianModel.h File Reference

Compute the complete Dynamics. More...

Go to the source code of this file.

Defines
#define	NCONT   2
#define	NDOF   6
#define	NTAGS   (12+1)
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	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	SpringForce (double S[NDOF], double q[NDOF])
	Compute the Spring Force.
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   2

#define NDOF   6

#define NTAGS   (12+1)

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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 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 SpringForce	(	double	S[NDOF],
		double	q[NDOF]
	)

Compute the Spring Force.

Parameters:

[out]	F	Matrix of friction dim NDOF
[in]	q	Joint 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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