... | ... | @@ -18,9 +18,9 @@ Qa should not be used to store results of the Invdyn symbolic file. INvdynrad sy |
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| | Qq | Qc | Qm [^2] | Qa |
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|---------------|--------------------------------------|-----------------------|------------------------|-----|
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| Dirdyn | Input (user_jointForces) | Output (from driven joints) | No default usage. Added to Qq | a |
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| Dirdyn – smlk | Input (user_jointForces) | Output (from driven joints) | Input, Coming from block input port [^1] | a |
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| Equil | Input (user_jointForces) | Output (from driven joints) | 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) | a |
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| Invdyn | Input (user_jointForces) | Output (from driven joints) | | a |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Output (from driven joints) | Used by module to put control input | a |
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| Dirdyn | Input (user_jointForces) | Output (from driven joints) | No default usage. Added to Qq | / |
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| Dirdyn – smlk | Input (user_jointForces) | Output (from driven joints) | Input, Coming from block input port [^1] | / |
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| Equil | Input (user_jointForces) | Output (from driven joints) | 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) | / |
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| Invdyn | Input (user_jointForces) | Output (from driven joints) | / | Store result of invdyn symbolic file |
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| Casadi | Symbolic/numeric constitutive law in joints (user_jointForces) | Output (from driven joints) | Used to put control input symbol | Store result of invdyn symbolic file |
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