user_hardcoded.h 1.19 KB
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/* --------------------------------------------------------
 * This code was generated automatically by MBsysC modules.
 * MBsysC modules are distributed as part of the ROBOTRAN 
 * software. They provides functionalities for dealing with
 * symbolic equations generated by ROBOTRAN. 
 *
 * More info on www.robotran.be 
 *
 * Universite catholique de Louvain, Belgium 
 *
 * Last update : Thu Aug 13 11:02:43 2015
 * --------------------------------------------------------
 *
 */
#ifndef USER_HARDCODED_h
#define USER_HARDCODED_h

// ============================================================ //


// gravity
#define G_3 9.810000

// mass
#define M_1 5.000000
#define M_3 2.000000
#define M_4 2.000000
#define M_5 2.000000

// center of mass
#define L_3_1 0.400000
#define L_3_4 0.075000
#define L_1_5 0.290000

// inertia
#define IN_5_1 0.100000
#define IN_9_3 1.000000
#define IN_5_4 0.100000
#define IN_5_5 0.100000

// body point
#define DPT_1_1 0.250000
#define DPT_1_2 -0.500000
#define DPT_3_3 0.500000
#define DPT_3_4 0.250000
#define DPT_3_5 1.500000
#define DPT_3_6 0.150000
#define DPT_1_7 0.580000
#define DPT_1_8 0.290000

// ============================================================ //

# endif