gait3d_pelvis213_torque.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "mex.h"
#include "gait3d_pelvis213_torque.h"

Macros
#define	EXTRACTINERTIAL(S, NUM)
#define	JACOBIANSIZING   0
#define	MAXCONTACTS   200
#define	MAXSTATES   (2*NDOF+NCVAR*MAXCONTACTS)

Functions
double	extract (const mxArray *P, char *fieldname1, unsigned int i1)
double	extract2 (const mxArray *P, char *fieldname1, unsigned int i1, char *fieldname2, unsigned int i2)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	normalize (double *x, double *y, double *z)

Variables
static contactprop	contacts [MAXCONTACTS]
static int	initialized = 0
static jointprop	joints [NDOF]
static int	ncontacts
static int	nf
static int	nstates
static param_struct	parameters
static double	zeros [MAXSTATES]

Macro Definition Documentation

EXTRACTINERTIAL

#define EXTRACTINERTIAL	(		S,
			NUM
	)

Value:

                {                                                                                                                                                               \
                parameters.S##_M                = extract2(P,"segments",(NUM),"mass",1);                        \
                parameters.S##_CMx              = extract2(P,"segments",(NUM),"mass_center",1); \
                parameters.S##_CMy              = extract2(P,"segments",(NUM),"mass_center",2); \
                parameters.S##_CMz              = extract2(P,"segments",(NUM),"mass_center",3); \
                parameters.S##_Ixx              = extract2(P,"segments",(NUM),"inertia",1);                     \
                parameters.S##_Ixy              = extract2(P,"segments",(NUM),"inertia",2);                     \
                parameters.S##_Ixz              = extract2(P,"segments",(NUM),"inertia",3);                     \
                parameters.S##_Iyy              = extract2(P,"segments",(NUM),"inertia",5);                     \
                parameters.S##_Iyz              = extract2(P,"segments",(NUM),"inertia",6);                     \
                parameters.S##_Izz              = extract2(P,"segments",(NUM),"inertia",9);                     \
}

JACOBIANSIZING

#define JACOBIANSIZING   0

MAXCONTACTS

#define MAXCONTACTS   200

MAXSTATES

#define MAXSTATES   (2*NDOF+NCVAR*MAXCONTACTS)

Function Documentation

extract()

double extract	(	const mxArray *	P,
		char *	fieldname1,
		unsigned int	i1
	)

extract2()

double extract2	(	const mxArray *	P,
		char *	fieldname1,
		unsigned int	i1,
		char *	fieldname2,
		unsigned int	i2
	)

mexFunction()

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

normalize()

void normalize	(	double *	x,
		double *	y,
		double *	z
	)

Variable Documentation

contacts

contactprop contacts[MAXCONTACTS]

static

initialized

int initialized = 0

static

joints

jointprop joints[NDOF]

static

ncontacts

int ncontacts

static

nf

int nf

static

nstates

int nstates

static

parameters

param_struct parameters

static

zeros

double zeros[MAXSTATES]

static