gait2d_osim_contact.h

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// gait2d_osim_contact.h
// This file defines things needed in the contact model
 
#define NCVAR 4                                                                                 // number of state variables for each contact element
#define NCEQ 4                                                                                  // number of equality constraints (f=0) for each contact element
#define NCINEQ 0                                                                                // number of inequality constraints (f>0) for each contact element
#define NCF 4                                   // total number of f's for each contact element
 
typedef struct {
                int segment;                                    // Which body segment it is attached to (referring to my forward kinematic segment list)
                int grfseg;                                                     // Which GRF segment this contact point contributes to (referring to my GRF array)
                double xp,yp;                   // Position of contact element on body segment
} contactprop;
 
// prototype for the Autolev C function for contact deformation
void contact_al(contactprop* contact,                                                                                                                                                           // parameters for one contact point
                double fk[6], double fkdot[6], double x[NCVAR], double xdot[NCVAR],                             // inputs for one contact point
                double f[NCF], double df_dfk[NCF][6], double df_dfkdot[NCF][6],                                 // outputs
                double df_dx[NCF][NCVAR], double df_dxdot[NCF][NCVAR]);