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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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...@@ -4,9 +4,13 @@ This page explains and clarify the various variables used to denote joint forces ...@@ -4,9 +4,13 @@ This page explains and clarify the various variables used to denote joint forces
|---------------|--------------------------------------|------------------------------------|------------------------------| |---------------|--------------------------------------|------------------------------------|------------------------------|
| 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 | Output, resulting of driven joints | Input, Coming from block input port [^1] | | Dirdyn – smlk | Input, coming from user_jointForces | Output, resulting of driven joints | Input, Coming from block input port [^1] |
| Invdyn | Input, coming from user_jointForces | | |
| Equil | Input, coming from user_jointForces | | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil (Input of the equations, output of the module) | | Equil | Input, coming from user_jointForces | | Can be used as additional/exchanged equilibrium variable to find a force/torque in steady state equil (Input of the equations, output of the module) |
| Invdyn | Input, coming from user_jointForces | | |
| 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 |
Qa should not be used to store results of the Invdyn symbolic file. INvdynrad symbolic should be something like ImpDynraed (Reduced Implicit Dynamics) and the results should be calle GammaR or GammaRed.
[^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`.
[^1]: the size of the expected signal on the block port will be equal the number of actuated joint set via the corresponding check box in MBsysPad. [^1]: the size of the expected signal on the block port will be equal the number of actuated joint set via the corresponding check box in MBsysPad.
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