d4/d8b/user__hard__param__W__torso_8h_source.html

/* --------------------------------------------------------

 * 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 : Fri Oct 28 11:22:23 2016

 * --------------------------------------------------------

 *

 */

#pragma once


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


// gravity

#define G_3 -9.81


// mass

#define M_7 5.01

#define M_8 25.49

#define M_9 0.14

#define M_10 0.13

#define M_11 0.25

#define M_12 0.07

#define M_13 1.34

#define M_15 0.05


// center of mass

#define L_3_6 -0.046475

#define L_1_7 -0.00075

#define L_3_7 0.074585

#define L_1_8 -0.000622

#define L_2_8 -0.019265

#define L_3_8 0.13965

#define L_1_9 -0.00025

#define L_2_9 0.0191

#define L_2_10 0.014408

#define L_3_10 0.04275

#define L_1_11 -0.0131

#define L_2_11 0.00675

#define L_3_11 0.06085

#define L_1_12 -0.00035

#define L_2_12 0.01005

#define L_1_13 -0.00125

#define L_2_13 0.021056

#define L_3_13 0.082021

#define L_2_15 -0.00625

#define L_3_15 -0.002695


// inertia

#define IN_1_6 1

#define IN_5_6 1

#define IN_9_6 1

#define IN_1_7 0.013791

#define IN_5_7 0.01651

#define IN_9_7 0.011721

#define IN_1_8 0.332368

#define IN_5_8 0.479884

#define IN_9_8 0.50297

#define IN_1_9 0.0001

#define IN_5_9 9.6e-05

#define IN_9_9 0.000159

#define IN_1_10 0.000252

#define IN_5_10 0.000168

#define IN_9_10 0.000121

#define IN_1_11 0.000427

#define IN_5_11 0.000465

#define IN_9_11 0.000223

#define IN_1_12 3.2e-05

#define IN_5_12 2.7e-05

#define IN_9_12 2.5e-05

#define IN_1_13 0.009549

#define IN_5_13 0.007219

#define IN_9_13 0.008227

#define IN_1_15 1.5e-05

#define IN_5_15 2.2e-05

#define IN_9_15 1.4e-05


// body point

#define DPT_3_1 0.099879

#define DPT_3_2 0.3073

#define DPT_3_3 0.0338

#define DPT_3_4 0.1062

#define DPT_2_5 0.00465

#define DPT_1_6 -0.0465

#define DPT_2_6 -0.06315

#define DPT_3_6 0.07265


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