gait3d_pelvis213_torque.h

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// gait3d_pelvis213_torque.h
// This file defines the data structure that holds model parameters for the gait3d_pelvis213_torque model
 
#include "gait3d_pelvis213_torque_multibody.h"
#include "../contact/gait3d_contact.h"
 
// M_PI is known in gcc but not in Visual C++ 2008
#ifndef M_PI
#define M_PI 3.1415926535897932384626433832795
#endif
 
 
// structure that holds parameters for one joint
typedef struct {
                double K1;                                                                                      // linear stiffness (small), in N/rad
                double K2;                                                                                      // quadratic stiffness, outside range of motion, in N/rad^2
                double B;                                                                                       // damping, in Ns/rad
                double qneutral;                                        // neutral position to compute passive joint moments
    double qmin_passiveMoment, qmax_passiveMoment; // range of dof for computation of passive moments
                
} jointprop;