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Update Joint forces: Qq, Qa, Qc authored by Nicolas Docquier's avatar Nicolas Docquier
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Joint-forces:-Qq,-Qa,-Qc.md
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...@@ -3,9 +3,9 @@ This page explains and clarify the various variables used to denote joint forces ...@@ -3,9 +3,9 @@ This page explains and clarify the various variables used to denote joint forces
| | Qq | Qc | Qa [^2] | | Qq | Qc | Qa [^2]
|---------------|--------------------------------------|------------------------------------|------------------------------| |---------------|--------------------------------------|------------------------------------|------------------------------|
| Dirdyn | Input, coming from user_jointForces | Output, resulting of driven joints | Not used | | Dirdyn | Input, coming from user_jointForces | Output, resulting of driven joints | Not used |
| Dirdyn – smlk | Input, coming from user_jointForces [^1] | | Coming from block input port | | Dirdyn – smlk | Input, coming from user_jointForces | Output, resulting of driven joints | Coming from block input port [^1] |
| Invdyn | Input, coming from user_jointForces | | | | Invdyn | Input, coming from user_jointForces | | |
| Equil | Input, coming from user_jointForces | | Can be used to find a force/torque in steady state equil | | Equil | Input, coming from user_jointForces | | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil |
| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Not used | Used by module to put control input | | Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Not used | Used by module to put control input |
[^2]: Qa vector is defined via MBsysPad by checking the _actuated_ box or via the `set_qa` function of `MbsData`. [^2]: Qa vector is defined via MBsysPad by checking the _actuated_ box or via the `set_qa` function of `MbsData`.
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