Skip to content

Changes

Page history
Update Joint forces: Qq, Qa, Qc authored by Nicolas Docquier's avatar Nicolas Docquier
Hide whitespace changes
Inline Side-by-side
Joint-forces:-Qq,-Qa,-Qc.md
View page @ af0b98b9
...@@ -8,7 +8,7 @@ This page explains and clarify the various variables used to denote joint forces ...@@ -8,7 +8,7 @@ This page explains and clarify the various variables used to denote joint forces
| Invdyn | Input, coming from user_jointForces | | | | 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. 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. (see Eq 3.18 in QD thesis)
[^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`.
......