gait2dc_dyn_al.c File Reference

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

Functions
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])

Function Documentation

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]
	)