gait3d_contact.h

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// gait3d_contact.h
// This file defines things needed in the contact model
 
#define NCVAR 6                                                                                 // number of state variables for each contact element
#define NCF 6                                                                                   // number of equality constraints (f=0) for each contact element
 
// define struct that holds contact properties for one contact point
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,zp;                                // Position of contact element on body segment
} contactprop;
                
// prototype for the Autolev C function for contact element equations
void contact_al(contactprop* contact,                                                                                                                                                                           // parameters for one contact point
                double fk[12], double fkdot[12], double x[NCVAR], double xdot[NCVAR],                           // inputs for one contact point
                double f[NCF], double df_dfk[NCF][12], double df_dfkdot[NCF][12],                                               // outputs
                double df_dx[NCF][NCVAR], double df_dxdot[NCF][NCVAR]);