SitToStand/ContactEventHandling.scilab File Reference

Handling of lift-off and impact events. More...

Functions
rets	ContactEventHandling (type t, type x, type Events, type OldState)
	Handling of lift-off and impact events.

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Detailed Description

Handling of lift-off and impact events.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

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

Description:

Modifications: $Log$ Revision 1.3 2005/05/04 13:13:15 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:17 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:08:25 rpissard version start HuMAnS

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Function Documentation

rets ContactEventHandling	(	type	t,
		type	x,
		type	Events,
		type	OldState
	)

Handling of lift-off and impact events.

Parameters:

	t	(float) time
	x	(float vector, size = 2*NDOF + 2*Nmuscles) system state
	Events	(boolean vector, size = NCONTACTS) events of lift-off and impacts
	OldState	(boolean vector, size = NCONTACTS) old contact state

Returns:

Newx (float vector, size = 2*NDOF + 2*Nmuscles) new system state

NewState (boolean vector, size = NCONTACTS) new contact state

WarmStart (boolean)

HuMAnS

humans-users@inrialpes.fr

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