StaticCalciumRightKneeMuscles/SwingUpControlLaw/ControlLaw.scilab File Reference

Compute the impulsion to send to muscles. More...

Functions
rets	ControlLaw (type t, type q, type qdot, type z, type OldState)
	Compute the impulsion to send to muscles.

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Detailed Description

Compute the impulsion to send to muscles.

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 13:13:14 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:13 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:05:05 rpissard version start HuMAnS

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Function Documentation

rets ControlLaw	(	type	t,
		type	q,
		type	qdot,
		type	z,
		type	OldState
	)

Compute the impulsion to send to muscles.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	z	(float vectot, size = 2*Nmuscles + 2) tightness and forces
	OldState	(float vector, size = variable, >= 4*Nmuscles + 2 ) state of contact

Returns:

pwi

NextTime

HuMAnS

humans-users@inrialpes.fr

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