contact_al.c File Reference

#include <math.h>
#include "gait2dc.h"

Functions
void	contact_al (contactprop *contact, double fk[6], double fkdot[6], double xc[4], double xcdot[2], double f[4], double df_dfk[4][6], double df_dfkdot[4][6], double df_dxc[4][4], double df_dxcdot[4][2])

Function Documentation

contact_al()

void contact_al	(	contactprop *	contact,
		double	fk[6],
		double	fkdot[6],
		double	xc[4],
		double	xcdot[2],
		double	f[4],
		double	df_dfk[4][6],
		double	df_dfkdot[4][6],
		double	df_dxc[4][4],
		double	df_dxcdot[4][2]
	)