SitToStand/ImpactLaw.scilab File Reference

Compute the velocity of system after an impact. More...

Functions
rets	ImpactLaw (type q, type qdot_moins, type ContactState)
	Compute the velocity of system after an impact.

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Detailed Description

Compute the velocity of system after an impact.

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 11:45:18 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 ImpactLaw	(	type	q,
		type	qdot_moins,
		type	ContactState
	)

Compute the velocity of system after an impact.

Parameters:

	q	(float vector, size = NDOF) position
	qdot_moins	(float vector, size = NDOF) velocity just before impact
	ContactState	(boolean vector, size = NCONTACTS) state of contacts

Returns:

qdot_plus (float vector, size = NDOF) velocity just after impact

HuMAnS

humans-users@inrialpes.fr

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