ReconstructionModel.h File Reference

Compute the complete Dynamics. More...

Go to the source code of this file.

Functions
void	COM (double *SegmentsCOM, double *q, double *L, double *AddL, double Mass)
	Compute the Matrix of the segment center of mass positions(the last row is the global center of mass).
void	TagsJacobian (double *TJ, double *q, double *L, double *AddL, double Mass)
	Compute the matrix of tags jacobian for a given bipede state.

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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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Function Documentation

void COM	(	double *	SegmentsCOM,
		double *	q,
		double *	L,
		double *	AddL,
		double	Mass
	)

Compute the Matrix of the segment center of mass positions(the last row is the global center of mass).

These positions are given in the reference frame

Parameters:

[out]	SegmentsCOM	Matrix of COM positions dim NSOL x 3(x,y,z)
[in]	q	Joint State Vector dim NDOF
[in]	L	lenght parameters vector dim NLANAT
[in]	AddL	length corresponding to the positions of the tags in their attached segment dim NLTAGS
[in]	Mass	mass of the subject model dim 1

void TagsJacobian	(	double *	TJ,
		double *	q,
		double *	L,
		double *	AddL,
		double	Mass
	)

Compute the matrix of tags jacobian for a given bipede state.

Parameters:

[out]	TJ	Matrix of Tags Jacobian dim (3x(NTAGS + 1))*NDOF
[in]	q	Joint State Vector dim NDOF
[in]	L	anatomical lenght parameters vector dim NLANAT
[in]	AddL	length corresponding to the positions of the tags in their attached segment dim NLTAGS
[in]	Mass	mass of the subject model dim 1

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