gait10dof18musc_multibody.h File Reference

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Classes
struct	param_struct

Macros
#define	INERTIAL(S)   double S##_M, S##_CMx, S##_CMy, S##_Izz
#define	NDOF   10
#define	NFK   6*NFKSEG
#define	NFKSEG   8
#define	NGRF   3*NGRFSEG
#define	NGRFSEG   2

Functions
void	gait10dof18musc_al (param_struct *par, double q[NDOF], double qd[NDOF], double qdd[NDOF], double G[NGRF], double f[NDOF], double df_dq[NDOF][NDOF], double df_dqd[NDOF][NDOF], double df_dqdd[NDOF][NDOF], double df_dG[NDOF][NGRF], double fk[NFK], double dfk_dq[NFK][NDOF], double fkdot[NFK], double dfkdot_dq[NFK][NDOF])
void	gait10dof18musc_FK_al (param_struct *par, double q[NDOF], double qd[NDOF], double qdd[NDOF], double fk[NFK], double dfk_dq[NFK][NDOF], double fkdot[NFK], double dfkdot_dq[NFK][NDOF])
void	gait10dof18musc_NoDer_al (param_struct *par, double q[NDOF], double qd[NDOF], double qdd[NDOF], double G[NGRF], double f[NDOF], double fk[NFK], double dfk_dq[NFK][NDOF], double fkdot[NFK], double dfkdot_dq[NFK][NDOF])

Macro Definition Documentation

INERTIAL

#define INERTIAL

(

S

)

double S##_M, S##_CMx, S##_CMy, S##_Izz

NDOF

#define NDOF   10

NFK

#define NFK   6*NFKSEG

NFKSEG

#define NFKSEG   8

NGRF

#define NGRF   3*NGRFSEG

NGRFSEG

#define NGRFSEG   2

Function Documentation

gait10dof18musc_al()

void gait10dof18musc_al	(	param_struct *	par,
		double	q[NDOF],
		double	qd[NDOF],
		double	qdd[NDOF],
		double	G[NGRF],
		double	f[NDOF],
		double	df_dq[NDOF][NDOF],
		double	df_dqd[NDOF][NDOF],
		double	df_dqdd[NDOF][NDOF],
		double	df_dG[NDOF][NGRF],
		double	fk[NFK],
		double	dfk_dq[NFK][NDOF],
		double	fkdot[NFK],
		double	dfkdot_dq[NFK][NDOF]
	)

gait10dof18musc_FK_al()

void gait10dof18musc_FK_al	(	param_struct *	par,
		double	q[NDOF],
		double	qd[NDOF],
		double	qdd[NDOF],
		double	fk[NFK],
		double	dfk_dq[NFK][NDOF],
		double	fkdot[NFK],
		double	dfkdot_dq[NFK][NDOF]
	)

gait10dof18musc_NoDer_al()

void gait10dof18musc_NoDer_al	(	param_struct *	par,
		double	q[NDOF],
		double	qd[NDOF],
		double	qdd[NDOF],
		double	G[NGRF],
		double	f[NDOF],
		double	fk[NFK],
		double	dfk_dq[NFK][NDOF],
		double	fkdot[NFK],
		double	dfkdot_dq[NFK][NDOF]
	)