gait2dc.h File Reference

Header file defining the data structure that holds model parameters. More...

Go to the source code of this file.

Classes
struct	contactprop
struct	param_struct

Macros
#define	NDOF   9
#define	NFK   42
#define	NGRF   6
#define	NMOM   6
#define	NSTICK   6

Functions
void	acc_al (param_struct *par, double q[NDOF], double qd[NDOF], double qdd[NDOF], double acc[42], double dacc_dq[42][NDOF], double dacc_dqd[42][NDOF], double dacc_dqdd[42][NDOF])
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])
void	gait2dc_dynamics_al (param_struct *par, double q[NDOF], double qd[NDOF], double qdd[NDOF], double mom[NMOM], double grf[NGRF], double Zero[NDOF], double dz_dq[NDOF][NDOF], double dz_dqd[NDOF][NDOF], double dz_dqdd[NDOF][NDOF], double dz_dmom[NDOF][NMOM], double dz_dgrf[NDOF][NGRF], double fk[NFK], double dfk_dq[NFK][NDOF], double fkdot[NFK], double dfkdot_dq[NFK][NDOF])
void	gait2dc_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	gait2dc_stick_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], double Stick[NSTICK][2])

Detailed Description

Header file defining the data structure that holds model parameters.

Author

Antonie J. (Ton) van den Bogert

Date

January 15, 2013

Copyright

2009-2012 Orchard Kinetics LLC

This file defines the data structure that holds model parameters. It is needed to pass model parameters to the Autolev generated C code in gait2dc_al.c

Macro Definition Documentation

NDOF

#define NDOF   9

NFK

#define NFK   42

NGRF

#define NGRF   6

NMOM

#define NMOM   6

NSTICK

#define NSTICK   6

Function Documentation

acc_al()

void acc_al	(	param_struct *	par,
		double	q[NDOF],
		double	qd[NDOF],
		double	qdd[NDOF],
		double	acc[42],
		double	dacc_dq[42][NDOF],
		double	dacc_dqd[42][NDOF],
		double	dacc_dqdd[42][NDOF]
	)

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]
	)

gait2dc_dynamics_al()

void gait2dc_dynamics_al	(	param_struct *	par,
		double	q[NDOF],
		double	qd[NDOF],
		double	qdd[NDOF],
		double	mom[NMOM],
		double	grf[NGRF],
		double	Zero[NDOF],
		double	dz_dq[NDOF][NDOF],
		double	dz_dqd[NDOF][NDOF],
		double	dz_dqdd[NDOF][NDOF],
		double	dz_dmom[NDOF][NMOM],
		double	dz_dgrf[NDOF][NGRF],
		double	fk[NFK],
		double	dfk_dq[NFK][NDOF],
		double	fkdot[NFK],
		double	dfkdot_dq[NFK][NDOF]
	)

gait2dc_FK_al()

void gait2dc_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]
	)

gait2dc_stick_al()

void gait2dc_stick_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],
		double	Stick[NSTICK][2]
	)