mbs_sensor_ArmarIV-W-Torso-virt.c
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1 //
2 //-------------------------------------------------------------
3 //
4 // ROBOTRAN - Version 6.6 (build : february 22, 2008)
5 //
6 // Copyright
7 // Universite catholique de Louvain
8 // Departement de Mecanique
9 // Unite de Production Mecanique et Machines
10 // 2, Place du Levant
11 // 1348 Louvain-la-Neuve
12 // http://www.robotran.be//
13 //
14 // ==> Generation Date : Fri Oct 28 11:08:15 2016
15 //
16 // ==> Project name : ArmarIV-W-Torso-virt
17 // ==> using XML input file
18 //
19 // ==> Number of joints : 18
20 //
21 // ==> Function : F 6 : Sensors Kinematical Informations (sens)
22 // ==> Flops complexity : 1319
23 //
24 // ==> Generation Time : 0.020 seconds
25 // ==> Post-Processing : 0.030 seconds
26 //
27 //-------------------------------------------------------------
28 //
29 
30 #include <math.h>
31 
32 #include "mbs_data.h"
33 #include "mbs_project_interface.h"
34 #include "mbs_sensor.h"
35 
36 void mbs_sensor_ArmarIV - W - Torso - virt(MbsSensor* sens,
37  MbsData* s,
38  int isens)
39 {
40 
41 #include "mbs_sensor_ArmarIV-W-Torso-virt.h"
42 #define q s->q
43 #define qd s->qd
44 #define qdd s->qdd
45 
46 
47 
48  // === begin imp_aux ===
49 
50  // === end imp_aux ===
51 
52  // ===== BEGIN task 0 =====
53 
54  // Sensor Kinematics
55 
56 
57 
58  // = = Block_0_0_0_0_0_1 = =
59 
60  // Trigonometric Variables
61 
62  C4 = cos(q[4]);
63  S4 = sin(q[4]);
64  C5 = cos(q[5]);
65  S5 = sin(q[5]);
66  C6 = cos(q[6]);
67  S6 = sin(q[6]);
68  C7 = cos(q[7]);
69  S7 = sin(q[7]);
70  C8 = cos(q[8]);
71  S8 = sin(q[8]);
72  C9 = cos(q[9]);
73  S9 = sin(q[9]);
74  C10 = cos(q[10]);
75  S10 = sin(q[10]);
76  C11 = cos(q[11]);
77  S11 = sin(q[11]);
78  C12 = cos(q[12]);
79  S12 = sin(q[12]);
80  C13 = cos(q[13]);
81  S13 = sin(q[13]);
82  C14 = cos(q[14]);
83  S14 = sin(q[14]);
84  C15 = cos(q[15]);
85  S15 = sin(q[15]);
86  C17 = cos(q[17]);
87  S17 = sin(q[17]);
88  C18 = cos(q[18]);
89  S18 = sin(q[18]);
90 
91  // = = Block_0_0_0_1_0_1 = =
92 
93  // Trigonometric Variables
94 
95  C6p7 = C6 * C7 - S6 * S7;
96  S6p7 = C6 * S7 + S6 * C7;
97 
98  // ====== END Task 0 ======
99 
100  // ===== BEGIN task 1 =====
101 
102  switch (isens)
103  {
104 
105  //
106  break;
107  case 1:
108 
109 
110 
111  // = = Block_1_0_0_1_0_1 = =
112 
113  // Sensor Kinematics
114 
115 
116  ROcp0_25 = S4 * S5;
117  ROcp0_35 = -C4 * S5;
118  ROcp0_85 = -S4 * C5;
119  ROcp0_95 = C4 * C5;
120  ROcp0_26 = ROcp0_25 * C6 + C4 * S6;
121  ROcp0_36 = ROcp0_35 * C6 + S4 * S6;
122  ROcp0_56 = -(ROcp0_25 * S6 - C4 * C6);
123  ROcp0_66 = -(ROcp0_35 * S6 - S4 * C6);
124  ROcp0_17 = C6p7 * C5;
125  ROcp0_27 = ROcp0_26 * C7 + ROcp0_56 * S7;
126  ROcp0_37 = ROcp0_36 * C7 + ROcp0_66 * S7;
127  ROcp0_47 = -S6p7 * C5;
128  ROcp0_57 = -(ROcp0_26 * S7 - ROcp0_56 * C7);
129  ROcp0_67 = -(ROcp0_36 * S7 - ROcp0_66 * C7);
130  ROcp0_48 = ROcp0_47 * C8 + S5 * S8;
131  ROcp0_58 = ROcp0_57 * C8 + ROcp0_85 * S8;
132  ROcp0_68 = ROcp0_67 * C8 + ROcp0_95 * S8;
133  ROcp0_78 = -(ROcp0_47 * S8 - S5 * C8);
134  ROcp0_88 = -(ROcp0_57 * S8 - ROcp0_85 * C8);
135  ROcp0_98 = -(ROcp0_67 * S8 - ROcp0_95 * C8);
136  ROcp0_49 = ROcp0_48 * C9 + ROcp0_78 * S9;
137  ROcp0_59 = ROcp0_58 * C9 + ROcp0_88 * S9;
138  ROcp0_69 = ROcp0_68 * C9 + ROcp0_98 * S9;
139  ROcp0_79 = -(ROcp0_48 * S9 - ROcp0_78 * C9);
140  ROcp0_89 = -(ROcp0_58 * S9 - ROcp0_88 * C9);
141  ROcp0_99 = -(ROcp0_68 * S9 - ROcp0_98 * C9);
142  ROcp0_110 = ROcp0_17 * C10 - ROcp0_79 * S10;
143  ROcp0_210 = ROcp0_27 * C10 - ROcp0_89 * S10;
144  ROcp0_310 = ROcp0_37 * C10 - ROcp0_99 * S10;
145  ROcp0_710 = ROcp0_17 * S10 + ROcp0_79 * C10;
146  ROcp0_810 = ROcp0_27 * S10 + ROcp0_89 * C10;
147  ROcp0_910 = ROcp0_37 * S10 + ROcp0_99 * C10;
148  ROcp0_111 = ROcp0_110 * C11 + ROcp0_49 * S11;
149  ROcp0_211 = ROcp0_210 * C11 + ROcp0_59 * S11;
150  ROcp0_311 = ROcp0_310 * C11 + ROcp0_69 * S11;
151  ROcp0_411 = -(ROcp0_110 * S11 - ROcp0_49 * C11);
152  ROcp0_511 = -(ROcp0_210 * S11 - ROcp0_59 * C11);
153  ROcp0_611 = -(ROcp0_310 * S11 - ROcp0_69 * C11);
154  ROcp0_412 = ROcp0_411 * C12 + ROcp0_710 * S12;
155  ROcp0_512 = ROcp0_511 * C12 + ROcp0_810 * S12;
156  ROcp0_612 = ROcp0_611 * C12 + ROcp0_910 * S12;
157  ROcp0_712 = -(ROcp0_411 * S12 - ROcp0_710 * C12);
158  ROcp0_812 = -(ROcp0_511 * S12 - ROcp0_810 * C12);
159  ROcp0_912 = -(ROcp0_611 * S12 - ROcp0_910 * C12);
160  ROcp0_113 = ROcp0_111 * C13 - ROcp0_712 * S13;
161  ROcp0_213 = ROcp0_211 * C13 - ROcp0_812 * S13;
162  ROcp0_313 = ROcp0_311 * C13 - ROcp0_912 * S13;
163  ROcp0_713 = ROcp0_111 * S13 + ROcp0_712 * C13;
164  ROcp0_813 = ROcp0_211 * S13 + ROcp0_812 * C13;
165  ROcp0_913 = ROcp0_311 * S13 + ROcp0_912 * C13;
166  ROcp0_414 = ROcp0_412 * C14 + ROcp0_713 * S14;
167  ROcp0_514 = ROcp0_512 * C14 + ROcp0_813 * S14;
168  ROcp0_614 = ROcp0_612 * C14 + ROcp0_913 * S14;
169  ROcp0_714 = -(ROcp0_412 * S14 - ROcp0_713 * C14);
170  ROcp0_814 = -(ROcp0_512 * S14 - ROcp0_813 * C14);
171  ROcp0_914 = -(ROcp0_612 * S14 - ROcp0_913 * C14);
172  ROcp0_115 = ROcp0_113 * C15 + ROcp0_414 * S15;
173  ROcp0_215 = ROcp0_213 * C15 + ROcp0_514 * S15;
174  ROcp0_315 = ROcp0_313 * C15 + ROcp0_614 * S15;
175  ROcp0_415 = -(ROcp0_113 * S15 - ROcp0_414 * C15);
176  ROcp0_515 = -(ROcp0_213 * S15 - ROcp0_514 * C15);
177  ROcp0_615 = -(ROcp0_313 * S15 - ROcp0_614 * C15);
178  ROcp0_417 = ROcp0_415 * C17 + ROcp0_714 * S17;
179  ROcp0_517 = ROcp0_515 * C17 + ROcp0_814 * S17;
180  ROcp0_617 = ROcp0_615 * C17 + ROcp0_914 * S17;
181  ROcp0_717 = -(ROcp0_415 * S17 - ROcp0_714 * C17);
182  ROcp0_817 = -(ROcp0_515 * S17 - ROcp0_814 * C17);
183  ROcp0_917 = -(ROcp0_615 * S17 - ROcp0_914 * C17);
184  ROcp0_118 = ROcp0_115 * C18 + ROcp0_417 * S18;
185  ROcp0_218 = ROcp0_215 * C18 + ROcp0_517 * S18;
186  ROcp0_318 = ROcp0_315 * C18 + ROcp0_617 * S18;
187  ROcp0_418 = -(ROcp0_115 * S18 - ROcp0_417 * C18);
188  ROcp0_518 = -(ROcp0_215 * S18 - ROcp0_517 * C18);
189  ROcp0_618 = -(ROcp0_315 * S18 - ROcp0_617 * C18);
190  OMcp0_25 = qd[5] * C4;
191  OMcp0_35 = qd[5] * S4;
192  OMcp0_16 = qd[4] + qd[6] * S5;
193  OMcp0_26 = OMcp0_25 + ROcp0_85 * qd[6];
194  OMcp0_36 = OMcp0_35 + ROcp0_95 * qd[6];
195  OMcp0_17 = OMcp0_16 + qd[7] * S5;
196  OMcp0_27 = OMcp0_26 + ROcp0_85 * qd[7];
197  OMcp0_37 = OMcp0_36 + ROcp0_95 * qd[7];
198  OPcp0_17 = qdd[4] + qdd[6] * S5 + qdd[7] * S5 + qd[5] * qd[6] * C5 + qd[7] * (OMcp0_26 * ROcp0_95 - OMcp0_36 * ROcp0_85);
199  OPcp0_27 = ROcp0_85 * (qdd[6] + qdd[7]) + qdd[5] * C4 - qd[4] * qd[5] * S4 + qd[6] * (OMcp0_35 * S5 - ROcp0_95 * qd[4]) - qd[7] * (OMcp0_16 *
200  ROcp0_95 - OMcp0_36 * S5);
201  OPcp0_37 = ROcp0_95 * (qdd[6] + qdd[7]) + qdd[5] * S4 + qd[4] * qd[5] * C4 - qd[6] * (OMcp0_25 * S5 - ROcp0_85 * qd[4]) + qd[7] * (OMcp0_16 *
202  ROcp0_85 - OMcp0_26 * S5);
203  RLcp0_18 = s->dpt[3][1] * S5;
204  RLcp0_28 = ROcp0_85 * s->dpt[3][1];
205  RLcp0_38 = ROcp0_95 * s->dpt[3][1];
206  OMcp0_18 = OMcp0_17 + ROcp0_17 * qd[8];
207  OMcp0_28 = OMcp0_27 + ROcp0_27 * qd[8];
208  OMcp0_38 = OMcp0_37 + ROcp0_37 * qd[8];
209  ORcp0_18 = OMcp0_27 * RLcp0_38 - OMcp0_37 * RLcp0_28;
210  ORcp0_28 = -(OMcp0_17 * RLcp0_38 - OMcp0_37 * RLcp0_18);
211  ORcp0_38 = OMcp0_17 * RLcp0_28 - OMcp0_27 * RLcp0_18;
212  OPcp0_18 = OPcp0_17 + ROcp0_17 * qdd[8] + qd[8] * (OMcp0_27 * ROcp0_37 - OMcp0_37 * ROcp0_27);
213  OPcp0_28 = OPcp0_27 + ROcp0_27 * qdd[8] - qd[8] * (OMcp0_17 * ROcp0_37 - OMcp0_37 * ROcp0_17);
214  OPcp0_38 = OPcp0_37 + ROcp0_37 * qdd[8] + qd[8] * (OMcp0_17 * ROcp0_27 - OMcp0_27 * ROcp0_17);
215  RLcp0_19 = ROcp0_78 * s->dpt[3][2];
216  RLcp0_29 = ROcp0_88 * s->dpt[3][2];
217  RLcp0_39 = ROcp0_98 * s->dpt[3][2];
218  OMcp0_19 = OMcp0_18 + ROcp0_17 * qd[9];
219  OMcp0_29 = OMcp0_28 + ROcp0_27 * qd[9];
220  OMcp0_39 = OMcp0_38 + ROcp0_37 * qd[9];
221  ORcp0_19 = OMcp0_28 * RLcp0_39 - OMcp0_38 * RLcp0_29;
222  ORcp0_29 = -(OMcp0_18 * RLcp0_39 - OMcp0_38 * RLcp0_19);
223  ORcp0_39 = OMcp0_18 * RLcp0_29 - OMcp0_28 * RLcp0_19;
224  OMcp0_110 = OMcp0_19 + ROcp0_49 * qd[10];
225  OMcp0_210 = OMcp0_29 + ROcp0_59 * qd[10];
226  OMcp0_310 = OMcp0_39 + ROcp0_69 * qd[10];
227  OPcp0_110 = OPcp0_18 + ROcp0_17 * qdd[9] + ROcp0_49 * qdd[10] + qd[10] * (OMcp0_29 * ROcp0_69 - OMcp0_39 * ROcp0_59) + qd[9] * (OMcp0_28 *
228  ROcp0_37 - OMcp0_38 * ROcp0_27);
229  OPcp0_210 = OPcp0_28 + ROcp0_27 * qdd[9] + ROcp0_59 * qdd[10] - qd[10] * (OMcp0_19 * ROcp0_69 - OMcp0_39 * ROcp0_49) - qd[9] * (OMcp0_18 *
230  ROcp0_37 - OMcp0_38 * ROcp0_17);
231  OPcp0_310 = OPcp0_38 + ROcp0_37 * qdd[9] + ROcp0_69 * qdd[10] + qd[10] * (OMcp0_19 * ROcp0_59 - OMcp0_29 * ROcp0_49) + qd[9] * (OMcp0_18 *
232  ROcp0_27 - OMcp0_28 * ROcp0_17);
233  RLcp0_111 = ROcp0_710 * s->dpt[3][3];
234  RLcp0_211 = ROcp0_810 * s->dpt[3][3];
235  RLcp0_311 = ROcp0_910 * s->dpt[3][3];
236  OMcp0_111 = OMcp0_110 + ROcp0_710 * qd[11];
237  OMcp0_211 = OMcp0_210 + ROcp0_810 * qd[11];
238  OMcp0_311 = OMcp0_310 + ROcp0_910 * qd[11];
239  ORcp0_111 = OMcp0_210 * RLcp0_311 - OMcp0_310 * RLcp0_211;
240  ORcp0_211 = -(OMcp0_110 * RLcp0_311 - OMcp0_310 * RLcp0_111);
241  ORcp0_311 = OMcp0_110 * RLcp0_211 - OMcp0_210 * RLcp0_111;
242  OPcp0_111 = OPcp0_110 + ROcp0_710 * qdd[11] + qd[11] * (OMcp0_210 * ROcp0_910 - OMcp0_310 * ROcp0_810);
243  OPcp0_211 = OPcp0_210 + ROcp0_810 * qdd[11] - qd[11] * (OMcp0_110 * ROcp0_910 - OMcp0_310 * ROcp0_710);
244  OPcp0_311 = OPcp0_310 + ROcp0_910 * qdd[11] + qd[11] * (OMcp0_110 * ROcp0_810 - OMcp0_210 * ROcp0_710);
245  RLcp0_112 = ROcp0_710 * s->dpt[3][4];
246  RLcp0_212 = ROcp0_810 * s->dpt[3][4];
247  RLcp0_312 = ROcp0_910 * s->dpt[3][4];
248  OMcp0_112 = OMcp0_111 + ROcp0_111 * qd[12];
249  OMcp0_212 = OMcp0_211 + ROcp0_211 * qd[12];
250  OMcp0_312 = OMcp0_311 + ROcp0_311 * qd[12];
251  ORcp0_112 = OMcp0_211 * RLcp0_312 - OMcp0_311 * RLcp0_212;
252  ORcp0_212 = -(OMcp0_111 * RLcp0_312 - OMcp0_311 * RLcp0_112);
253  ORcp0_312 = OMcp0_111 * RLcp0_212 - OMcp0_211 * RLcp0_112;
254  OPcp0_112 = OPcp0_111 + ROcp0_111 * qdd[12] + qd[12] * (OMcp0_211 * ROcp0_311 - OMcp0_311 * ROcp0_211);
255  OPcp0_212 = OPcp0_211 + ROcp0_211 * qdd[12] - qd[12] * (OMcp0_111 * ROcp0_311 - OMcp0_311 * ROcp0_111);
256  OPcp0_312 = OPcp0_311 + ROcp0_311 * qdd[12] + qd[12] * (OMcp0_111 * ROcp0_211 - OMcp0_211 * ROcp0_111);
257  RLcp0_113 = ROcp0_412 * s->dpt[2][5];
258  RLcp0_213 = ROcp0_512 * s->dpt[2][5];
259  RLcp0_313 = ROcp0_612 * s->dpt[2][5];
260  OMcp0_113 = OMcp0_112 + ROcp0_412 * qd[13];
261  OMcp0_213 = OMcp0_212 + ROcp0_512 * qd[13];
262  OMcp0_313 = OMcp0_312 + ROcp0_612 * qd[13];
263  ORcp0_113 = OMcp0_212 * RLcp0_313 - OMcp0_312 * RLcp0_213;
264  ORcp0_213 = -(OMcp0_112 * RLcp0_313 - OMcp0_312 * RLcp0_113);
265  ORcp0_313 = OMcp0_112 * RLcp0_213 - OMcp0_212 * RLcp0_113;
266  OPcp0_113 = OPcp0_112 + ROcp0_412 * qdd[13] + qd[13] * (OMcp0_212 * ROcp0_612 - OMcp0_312 * ROcp0_512);
267  OPcp0_213 = OPcp0_212 + ROcp0_512 * qdd[13] - qd[13] * (OMcp0_112 * ROcp0_612 - OMcp0_312 * ROcp0_412);
268  OPcp0_313 = OPcp0_312 + ROcp0_612 * qdd[13] + qd[13] * (OMcp0_112 * ROcp0_512 - OMcp0_212 * ROcp0_412);
269  RLcp0_114 = ROcp0_113 * s->dpt[1][6] + ROcp0_412 * s->dpt[2][6] + ROcp0_713 * s->dpt[3][6];
270  RLcp0_214 = ROcp0_213 * s->dpt[1][6] + ROcp0_512 * s->dpt[2][6] + ROcp0_813 * s->dpt[3][6];
271  RLcp0_314 = ROcp0_313 * s->dpt[1][6] + ROcp0_612 * s->dpt[2][6] + ROcp0_913 * s->dpt[3][6];
272  OMcp0_114 = OMcp0_113 + ROcp0_113 * qd[14];
273  OMcp0_214 = OMcp0_213 + ROcp0_213 * qd[14];
274  OMcp0_314 = OMcp0_313 + ROcp0_313 * qd[14];
275  ORcp0_114 = OMcp0_213 * RLcp0_314 - OMcp0_313 * RLcp0_214;
276  ORcp0_214 = -(OMcp0_113 * RLcp0_314 - OMcp0_313 * RLcp0_114);
277  ORcp0_314 = OMcp0_113 * RLcp0_214 - OMcp0_213 * RLcp0_114;
278  OMcp0_115 = OMcp0_114 + ROcp0_714 * qd[15];
279  OMcp0_215 = OMcp0_214 + ROcp0_814 * qd[15];
280  OMcp0_315 = OMcp0_314 + ROcp0_914 * qd[15];
281  OPcp0_115 = OPcp0_113 + ROcp0_113 * qdd[14] + ROcp0_714 * qdd[15] + qd[14] * (OMcp0_213 * ROcp0_313 - OMcp0_313 * ROcp0_213) + qd[15] * (
282  OMcp0_214 * ROcp0_914 - OMcp0_314 * ROcp0_814);
283  OPcp0_215 = OPcp0_213 + ROcp0_213 * qdd[14] + ROcp0_814 * qdd[15] - qd[14] * (OMcp0_113 * ROcp0_313 - OMcp0_313 * ROcp0_113) - qd[15] * (
284  OMcp0_114 * ROcp0_914 - OMcp0_314 * ROcp0_714);
285  OPcp0_315 = OPcp0_313 + ROcp0_313 * qdd[14] + ROcp0_914 * qdd[15] + qd[14] * (OMcp0_113 * ROcp0_213 - OMcp0_213 * ROcp0_113) + qd[15] * (
286  OMcp0_114 * ROcp0_814 - OMcp0_214 * ROcp0_714);
287  RLcp0_116 = ROcp0_415 * q[16];
288  RLcp0_216 = ROcp0_515 * q[16];
289  RLcp0_316 = ROcp0_615 * q[16];
290  POcp0_116 = RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_116 + RLcp0_18 + RLcp0_19 + q[1];
291  POcp0_216 = RLcp0_211 + RLcp0_212 + RLcp0_213 + RLcp0_214 + RLcp0_216 + RLcp0_28 + RLcp0_29 + q[2];
292  POcp0_316 = RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_38 + RLcp0_39 + q[3];
293  JTcp0_216_4 = -(RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_38 + RLcp0_39);
294  JTcp0_316_4 = RLcp0_211 + RLcp0_212 + RLcp0_213 + RLcp0_214 + RLcp0_216 + RLcp0_28 + RLcp0_29;
295  JTcp0_116_5 = s->dpt[3][1] * C5 + C4 * (RLcp0_311 + RLcp0_39) + C4 * (RLcp0_312 + RLcp0_313) + C4 * (RLcp0_314 + RLcp0_316) - S4 * (RLcp0_211 +
296  RLcp0_29) - S4 * (RLcp0_212 + RLcp0_213) - S4 * (RLcp0_214 + RLcp0_216);
297  JTcp0_216_5 = S4 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_116 + RLcp0_18 + RLcp0_19);
298  JTcp0_316_5 = -C4 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_116 + RLcp0_18 + RLcp0_19);
299  JTcp0_116_6 = ROcp0_85 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_39) - ROcp0_95 * (RLcp0_211 + RLcp0_29) -
300  ROcp0_95 * (RLcp0_212 + RLcp0_213) - ROcp0_95 * (RLcp0_214 + RLcp0_216);
301  JTcp0_216_6 = RLcp0_116 * ROcp0_95 - RLcp0_314 * S5 - RLcp0_316 * S5 + ROcp0_95 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_19)
302  - S5 * (RLcp0_311 + RLcp0_39) - S5 * (RLcp0_312 + RLcp0_313);
303  JTcp0_316_6 = RLcp0_214 * S5 - ROcp0_85 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_19) + S5 * (RLcp0_211 + RLcp0_29) + S5 * (
304  RLcp0_212 + RLcp0_213) - RLcp0_116 * ROcp0_85 + RLcp0_216 * S5;
305  JTcp0_116_7 = ROcp0_85 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_39) - ROcp0_95 * (RLcp0_211 + RLcp0_29) -
306  ROcp0_95 * (RLcp0_212 + RLcp0_213) - ROcp0_95 * (RLcp0_214 + RLcp0_216);
307  JTcp0_216_7 = RLcp0_116 * ROcp0_95 - RLcp0_314 * S5 - RLcp0_316 * S5 + ROcp0_95 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_19)
308  - S5 * (RLcp0_311 + RLcp0_39) - S5 * (RLcp0_312 + RLcp0_313);
309  JTcp0_316_7 = RLcp0_214 * S5 - ROcp0_85 * (RLcp0_111 + RLcp0_112 + RLcp0_113 + RLcp0_114 + RLcp0_19) + S5 * (RLcp0_211 + RLcp0_29) + S5 * (
310  RLcp0_212 + RLcp0_213) - RLcp0_116 * ROcp0_85 + RLcp0_216 * S5;
311  JTcp0_116_8 = ROcp0_27 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_39) - ROcp0_37 * (RLcp0_211 + RLcp0_29) -
312  ROcp0_37 * (RLcp0_212 + RLcp0_213) - ROcp0_37 * (RLcp0_214 + RLcp0_216);
313  JTcp0_216_8 = -(ROcp0_17 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316 + RLcp0_39) - ROcp0_37 * (RLcp0_111 + RLcp0_19) -
314  ROcp0_37 * (RLcp0_112 + RLcp0_113) - ROcp0_37 * (RLcp0_114 + RLcp0_116));
315  JTcp0_316_8 = ROcp0_17 * (RLcp0_211 + RLcp0_212 + RLcp0_213 + RLcp0_214 + RLcp0_216 + RLcp0_29) - ROcp0_27 * (RLcp0_111 + RLcp0_19) -
316  ROcp0_27 * (RLcp0_112 + RLcp0_113) - ROcp0_27 * (RLcp0_114 + RLcp0_116);
317  JTcp0_116_9 = ROcp0_27 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314) - ROcp0_37 * (RLcp0_211 + RLcp0_212) - ROcp0_37 * (RLcp0_213 +
318  RLcp0_214) - RLcp0_216 * ROcp0_37 + RLcp0_316 * ROcp0_27;
319  JTcp0_216_9 = RLcp0_116 * ROcp0_37 - RLcp0_316 * ROcp0_17 - ROcp0_17 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314) + ROcp0_37 * (
320  RLcp0_111 + RLcp0_112) + ROcp0_37 * (RLcp0_113 + RLcp0_114);
321  JTcp0_316_9 = ROcp0_17 * (RLcp0_211 + RLcp0_212 + RLcp0_213 + RLcp0_214) - ROcp0_27 * (RLcp0_111 + RLcp0_112) - ROcp0_27 * (RLcp0_113 +
322  RLcp0_114) - RLcp0_116 * ROcp0_27 + RLcp0_216 * ROcp0_17;
323  JTcp0_116_10 = ROcp0_59 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314) - ROcp0_69 * (RLcp0_211 + RLcp0_212) - ROcp0_69 * (RLcp0_213 +
324  RLcp0_214) - RLcp0_216 * ROcp0_69 + RLcp0_316 * ROcp0_59;
325  JTcp0_216_10 = RLcp0_116 * ROcp0_69 - RLcp0_316 * ROcp0_49 - ROcp0_49 * (RLcp0_311 + RLcp0_312 + RLcp0_313 + RLcp0_314) + ROcp0_69 * (
326  RLcp0_111 + RLcp0_112) + ROcp0_69 * (RLcp0_113 + RLcp0_114);
327  JTcp0_316_10 = ROcp0_49 * (RLcp0_211 + RLcp0_212 + RLcp0_213 + RLcp0_214) - ROcp0_59 * (RLcp0_111 + RLcp0_112) - ROcp0_59 * (RLcp0_113 +
328  RLcp0_114) - RLcp0_116 * ROcp0_59 + RLcp0_216 * ROcp0_49;
329  JTcp0_116_11 = ROcp0_810 * (RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316) - ROcp0_910 * (RLcp0_212 + RLcp0_213) - ROcp0_910 * (
330  RLcp0_214 + RLcp0_216);
331  JTcp0_216_11 = -(ROcp0_710 * (RLcp0_312 + RLcp0_313 + RLcp0_314 + RLcp0_316) - ROcp0_910 * (RLcp0_112 + RLcp0_113) - ROcp0_910 * (
332  RLcp0_114 + RLcp0_116));
333  JTcp0_316_11 = ROcp0_710 * (RLcp0_212 + RLcp0_213 + RLcp0_214 + RLcp0_216) - ROcp0_810 * (RLcp0_112 + RLcp0_113) - ROcp0_810 * (
334  RLcp0_114 + RLcp0_116);
335  JTcp0_116_12 = ROcp0_211 * (RLcp0_313 + RLcp0_314) - ROcp0_311 * (RLcp0_213 + RLcp0_214) - RLcp0_216 * ROcp0_311 + RLcp0_316 * ROcp0_211;
336  JTcp0_216_12 = RLcp0_116 * ROcp0_311 - RLcp0_316 * ROcp0_111 - ROcp0_111 * (RLcp0_313 + RLcp0_314) + ROcp0_311 * (RLcp0_113 + RLcp0_114);
337  JTcp0_316_12 = ROcp0_111 * (RLcp0_213 + RLcp0_214) - ROcp0_211 * (RLcp0_113 + RLcp0_114) - RLcp0_116 * ROcp0_211 + RLcp0_216 * ROcp0_111;
338  JTcp0_116_13 = ROcp0_512 * (RLcp0_314 + RLcp0_316) - ROcp0_612 * (RLcp0_214 + RLcp0_216);
339  JTcp0_216_13 = -(ROcp0_412 * (RLcp0_314 + RLcp0_316) - ROcp0_612 * (RLcp0_114 + RLcp0_116));
340  JTcp0_316_13 = ROcp0_412 * (RLcp0_214 + RLcp0_216) - ROcp0_512 * (RLcp0_114 + RLcp0_116);
341  JTcp0_116_14 = -(RLcp0_216 * ROcp0_313 - RLcp0_316 * ROcp0_213);
342  JTcp0_216_14 = RLcp0_116 * ROcp0_313 - RLcp0_316 * ROcp0_113;
343  JTcp0_316_14 = -(RLcp0_116 * ROcp0_213 - RLcp0_216 * ROcp0_113);
344  JTcp0_116_15 = -(RLcp0_216 * ROcp0_914 - RLcp0_316 * ROcp0_814);
345  JTcp0_216_15 = RLcp0_116 * ROcp0_914 - RLcp0_316 * ROcp0_714;
346  JTcp0_316_15 = -(RLcp0_116 * ROcp0_814 - RLcp0_216 * ROcp0_714);
347  ORcp0_116 = OMcp0_215 * RLcp0_316 - OMcp0_315 * RLcp0_216;
348  ORcp0_216 = -(OMcp0_115 * RLcp0_316 - OMcp0_315 * RLcp0_116);
349  ORcp0_316 = OMcp0_115 * RLcp0_216 - OMcp0_215 * RLcp0_116;
350  VIcp0_116 = ORcp0_111 + ORcp0_112 + ORcp0_113 + ORcp0_114 + ORcp0_116 + ORcp0_18 + ORcp0_19 + qd[1] + ROcp0_415 * qd[16];
351  VIcp0_216 = ORcp0_211 + ORcp0_212 + ORcp0_213 + ORcp0_214 + ORcp0_216 + ORcp0_28 + ORcp0_29 + qd[2] + ROcp0_515 * qd[16];
352  VIcp0_316 = ORcp0_311 + ORcp0_312 + ORcp0_313 + ORcp0_314 + ORcp0_316 + ORcp0_38 + ORcp0_39 + qd[3] + ROcp0_615 * qd[16];
353  ACcp0_116 = qdd[1] + OMcp0_210 * ORcp0_311 + OMcp0_211 * ORcp0_312 + OMcp0_212 * ORcp0_313 + OMcp0_213 * ORcp0_314 + OMcp0_215 * ORcp0_316
354  + OMcp0_27 * ORcp0_38 + OMcp0_28 * ORcp0_39 - OMcp0_310 * ORcp0_211 - OMcp0_311 * ORcp0_212 - OMcp0_312 * ORcp0_213 - OMcp0_313 * ORcp0_214 -
355  OMcp0_315 * ORcp0_216 - OMcp0_37 * ORcp0_28 - OMcp0_38 * ORcp0_29 + OPcp0_210 * RLcp0_311 + OPcp0_211 * RLcp0_312 + OPcp0_212 * RLcp0_313 +
356  OPcp0_213 * RLcp0_314 + OPcp0_215 * RLcp0_316 + OPcp0_27 * RLcp0_38 + OPcp0_28 * RLcp0_39 - OPcp0_310 * RLcp0_211 - OPcp0_311 * RLcp0_212 -
357  OPcp0_312 * RLcp0_213 - OPcp0_313 * RLcp0_214 - OPcp0_315 * RLcp0_216 - OPcp0_37 * RLcp0_28 - OPcp0_38 * RLcp0_29 + ROcp0_415 * qdd[16] + (2.0) * qd[16] * (
358  OMcp0_215 * ROcp0_615 - OMcp0_315 * ROcp0_515);
359  ACcp0_216 = qdd[2] - OMcp0_110 * ORcp0_311 - OMcp0_111 * ORcp0_312 - OMcp0_112 * ORcp0_313 - OMcp0_113 * ORcp0_314 - OMcp0_115 * ORcp0_316
360  - OMcp0_17 * ORcp0_38 - OMcp0_18 * ORcp0_39 + OMcp0_310 * ORcp0_111 + OMcp0_311 * ORcp0_112 + OMcp0_312 * ORcp0_113 + OMcp0_313 * ORcp0_114 +
361  OMcp0_315 * ORcp0_116 + OMcp0_37 * ORcp0_18 + OMcp0_38 * ORcp0_19 - OPcp0_110 * RLcp0_311 - OPcp0_111 * RLcp0_312 - OPcp0_112 * RLcp0_313 -
362  OPcp0_113 * RLcp0_314 - OPcp0_115 * RLcp0_316 - OPcp0_17 * RLcp0_38 - OPcp0_18 * RLcp0_39 + OPcp0_310 * RLcp0_111 + OPcp0_311 * RLcp0_112 +
363  OPcp0_312 * RLcp0_113 + OPcp0_313 * RLcp0_114 + OPcp0_315 * RLcp0_116 + OPcp0_37 * RLcp0_18 + OPcp0_38 * RLcp0_19 + ROcp0_515 * qdd[16] - (2.0) * qd[16] * (
364  OMcp0_115 * ROcp0_615 - OMcp0_315 * ROcp0_415);
365  ACcp0_316 = qdd[3] + OMcp0_110 * ORcp0_211 + OMcp0_111 * ORcp0_212 + OMcp0_112 * ORcp0_213 + OMcp0_113 * ORcp0_214 + OMcp0_115 * ORcp0_216
366  + OMcp0_17 * ORcp0_28 + OMcp0_18 * ORcp0_29 - OMcp0_210 * ORcp0_111 - OMcp0_211 * ORcp0_112 - OMcp0_212 * ORcp0_113 - OMcp0_213 * ORcp0_114 -
367  OMcp0_215 * ORcp0_116 - OMcp0_27 * ORcp0_18 - OMcp0_28 * ORcp0_19 + OPcp0_110 * RLcp0_211 + OPcp0_111 * RLcp0_212 + OPcp0_112 * RLcp0_213 +
368  OPcp0_113 * RLcp0_214 + OPcp0_115 * RLcp0_216 + OPcp0_17 * RLcp0_28 + OPcp0_18 * RLcp0_29 - OPcp0_210 * RLcp0_111 - OPcp0_211 * RLcp0_112 -
369  OPcp0_212 * RLcp0_113 - OPcp0_213 * RLcp0_114 - OPcp0_215 * RLcp0_116 - OPcp0_27 * RLcp0_18 - OPcp0_28 * RLcp0_19 + ROcp0_615 * qdd[16] + (2.0) * qd[16] * (
370  OMcp0_115 * ROcp0_515 - OMcp0_215 * ROcp0_415);
371  OMcp0_117 = OMcp0_115 + ROcp0_115 * qd[17];
372  OMcp0_217 = OMcp0_215 + ROcp0_215 * qd[17];
373  OMcp0_317 = OMcp0_315 + ROcp0_315 * qd[17];
374  OMcp0_118 = OMcp0_117 + ROcp0_717 * qd[18];
375  OMcp0_218 = OMcp0_217 + ROcp0_817 * qd[18];
376  OMcp0_318 = OMcp0_317 + ROcp0_917 * qd[18];
377  OPcp0_118 = OPcp0_115 + ROcp0_115 * qdd[17] + ROcp0_717 * qdd[18] + qd[17] * (OMcp0_215 * ROcp0_315 - OMcp0_315 * ROcp0_215) + qd[18] * (
378  OMcp0_217 * ROcp0_917 - OMcp0_317 * ROcp0_817);
379  OPcp0_218 = OPcp0_215 + ROcp0_215 * qdd[17] + ROcp0_817 * qdd[18] - qd[17] * (OMcp0_115 * ROcp0_315 - OMcp0_315 * ROcp0_115) - qd[18] * (
380  OMcp0_117 * ROcp0_917 - OMcp0_317 * ROcp0_717);
381  OPcp0_318 = OPcp0_315 + ROcp0_315 * qdd[17] + ROcp0_917 * qdd[18] + qd[17] * (OMcp0_115 * ROcp0_215 - OMcp0_215 * ROcp0_115) + qd[18] * (
382  OMcp0_117 * ROcp0_817 - OMcp0_217 * ROcp0_717);
383 
384  // = = Block_1_0_0_1_1_0 = =
385 
386  // Symbolic Outputs
387 
388  sens->P[1] = POcp0_116;
389  sens->P[2] = POcp0_216;
390  sens->P[3] = POcp0_316;
391  sens->R[1][1] = ROcp0_118;
392  sens->R[1][2] = ROcp0_218;
393  sens->R[1][3] = ROcp0_318;
394  sens->R[2][1] = ROcp0_418;
395  sens->R[2][2] = ROcp0_518;
396  sens->R[2][3] = ROcp0_618;
397  sens->R[3][1] = ROcp0_717;
398  sens->R[3][2] = ROcp0_817;
399  sens->R[3][3] = ROcp0_917;
400  sens->V[1] = VIcp0_116;
401  sens->V[2] = VIcp0_216;
402  sens->V[3] = VIcp0_316;
403  sens->OM[1] = OMcp0_118;
404  sens->OM[2] = OMcp0_218;
405  sens->OM[3] = OMcp0_318;
406  sens->J[1][1] = (1.0);
407  sens->J[1][5] = JTcp0_116_5;
408  sens->J[1][6] = JTcp0_116_6;
409  sens->J[1][7] = JTcp0_116_7;
410  sens->J[1][8] = JTcp0_116_8;
411  sens->J[1][9] = JTcp0_116_9;
412  sens->J[1][10] = JTcp0_116_10;
413  sens->J[1][11] = JTcp0_116_11;
414  sens->J[1][12] = JTcp0_116_12;
415  sens->J[1][13] = JTcp0_116_13;
416  sens->J[1][14] = JTcp0_116_14;
417  sens->J[1][15] = JTcp0_116_15;
418  sens->J[1][16] = ROcp0_415;
419  sens->J[2][2] = (1.0);
420  sens->J[2][4] = JTcp0_216_4;
421  sens->J[2][5] = JTcp0_216_5;
422  sens->J[2][6] = JTcp0_216_6;
423  sens->J[2][7] = JTcp0_216_7;
424  sens->J[2][8] = JTcp0_216_8;
425  sens->J[2][9] = JTcp0_216_9;
426  sens->J[2][10] = JTcp0_216_10;
427  sens->J[2][11] = JTcp0_216_11;
428  sens->J[2][12] = JTcp0_216_12;
429  sens->J[2][13] = JTcp0_216_13;
430  sens->J[2][14] = JTcp0_216_14;
431  sens->J[2][15] = JTcp0_216_15;
432  sens->J[2][16] = ROcp0_515;
433  sens->J[3][3] = (1.0);
434  sens->J[3][4] = JTcp0_316_4;
435  sens->J[3][5] = JTcp0_316_5;
436  sens->J[3][6] = JTcp0_316_6;
437  sens->J[3][7] = JTcp0_316_7;
438  sens->J[3][8] = JTcp0_316_8;
439  sens->J[3][9] = JTcp0_316_9;
440  sens->J[3][10] = JTcp0_316_10;
441  sens->J[3][11] = JTcp0_316_11;
442  sens->J[3][12] = JTcp0_316_12;
443  sens->J[3][13] = JTcp0_316_13;
444  sens->J[3][14] = JTcp0_316_14;
445  sens->J[3][15] = JTcp0_316_15;
446  sens->J[3][16] = ROcp0_615;
447  sens->J[4][4] = (1.0);
448  sens->J[4][6] = S5;
449  sens->J[4][7] = S5;
450  sens->J[4][8] = ROcp0_17;
451  sens->J[4][9] = ROcp0_17;
452  sens->J[4][10] = ROcp0_49;
453  sens->J[4][11] = ROcp0_710;
454  sens->J[4][12] = ROcp0_111;
455  sens->J[4][13] = ROcp0_412;
456  sens->J[4][14] = ROcp0_113;
457  sens->J[4][15] = ROcp0_714;
458  sens->J[4][17] = ROcp0_115;
459  sens->J[4][18] = ROcp0_717;
460  sens->J[5][5] = C4;
461  sens->J[5][6] = ROcp0_85;
462  sens->J[5][7] = ROcp0_85;
463  sens->J[5][8] = ROcp0_27;
464  sens->J[5][9] = ROcp0_27;
465  sens->J[5][10] = ROcp0_59;
466  sens->J[5][11] = ROcp0_810;
467  sens->J[5][12] = ROcp0_211;
468  sens->J[5][13] = ROcp0_512;
469  sens->J[5][14] = ROcp0_213;
470  sens->J[5][15] = ROcp0_814;
471  sens->J[5][17] = ROcp0_215;
472  sens->J[5][18] = ROcp0_817;
473  sens->J[6][5] = S4;
474  sens->J[6][6] = ROcp0_95;
475  sens->J[6][7] = ROcp0_95;
476  sens->J[6][8] = ROcp0_37;
477  sens->J[6][9] = ROcp0_37;
478  sens->J[6][10] = ROcp0_69;
479  sens->J[6][11] = ROcp0_910;
480  sens->J[6][12] = ROcp0_311;
481  sens->J[6][13] = ROcp0_612;
482  sens->J[6][14] = ROcp0_313;
483  sens->J[6][15] = ROcp0_914;
484  sens->J[6][17] = ROcp0_315;
485  sens->J[6][18] = ROcp0_917;
486  sens->A[1] = ACcp0_116;
487  sens->A[2] = ACcp0_216;
488  sens->A[3] = ACcp0_316;
489  sens->OMP[1] = OPcp0_118;
490  sens->OMP[2] = OPcp0_218;
491  sens->OMP[3] = OPcp0_318;
492 
493  break;
494  default:
495  break;
496  }
497 
498 
499  // ====== END Task 1 ======
500 
501 
502 }
503 
504 
OPcp0_118
double OPcp0_118
Definition: mbs_sensor_ArmarIII_simplified_virt.h:306
JTcp0_216_11
double JTcp0_216_11
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:221
C12
double C12
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:17
ORcp0_212
double ORcp0_212
Definition: mbs_sensor_ArmarIII_simplified_virt.h:295
RLcp0_114
double RLcp0_114
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:154
ROcp0_113
double ROcp0_113
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:71
OPcp0_18
double OPcp0_18
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:100
C4
double C4
Definition: mbs_sensor_ArmarIII_simplified_virt.h:3
JTcp0_316_4
double JTcp0_316_4
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:201
OMcp0_218
double OMcp0_218
Definition: mbs_sensor_ArmarIII_simplified_virt.h:304
RLcp0_313
double RLcp0_313
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:169
JTcp0_116_6
double JTcp0_116_6
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:205
ROcp0_418
double ROcp0_418
Definition: mbs_sensor_ArmarIII_simplified_virt.h:148
VIcp0_216
double VIcp0_216
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:239
OPcp0_315
double OPcp0_315
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:193
JTcp0_216_8
double JTcp0_216_8
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:212
OMcp0_114
double OMcp0_114
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:182
OMcp0_28
double OMcp0_28
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:98
JTcp0_316_14
double JTcp0_316_14
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:231
ROcp0_57
double ROcp0_57
Definition: mbs_sensor_ArmarIII_simplified_virt.h:98
OMcp0_36
double OMcp0_36
Definition: mbs_sensor_ArmarIII_simplified_virt.h:281
RLcp0_18
double RLcp0_18
Definition: mbs_sensor_ArmarIII_simplified_virt.h:285
OPcp0_27
double OPcp0_27
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:114
ROcp0_611
double ROcp0_611
Definition: mbs_sensor_ArmarIII_simplified_virt.h:120
JTcp0_316_11
double JTcp0_316_11
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:222
qd
#define qd
MbsSensor::V
double V[4]
Velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:21
ROcp0_118
double ROcp0_118
Definition: mbs_sensor_ArmarIII_simplified_virt.h:145
ROcp0_315
double ROcp0_315
Definition: mbs_sensor_ArmarIII_simplified_virt.h:135
JTcp0_216_14
double JTcp0_216_14
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:230
MbsSensor::OMP
double OMP[4]
Angular acceleration vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:24
ORcp0_38
double ORcp0_38
Definition: mbs_sensor_ArmarIII_simplified_virt.h:290
ROcp0_215
double ROcp0_215
Definition: mbs_sensor_ArmarIII_simplified_virt.h:134
JTcp0_316_12
double JTcp0_316_12
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:225
RLcp0_38
double RLcp0_38
Definition: mbs_sensor_ArmarIII_simplified_virt.h:287
JTcp0_216_7
double JTcp0_216_7
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:209
JTcp0_316_9
double JTcp0_316_9
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:216
S8
double S8
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:10
RLcp0_211
double RLcp0_211
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:128
JTcp0_316_5
double JTcp0_316_5
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:204
ORcp0_112
double ORcp0_112
Definition: mbs_sensor_ArmarIII_simplified_virt.h:294
JTcp0_216_10
double JTcp0_216_10
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:218
OMcp0_16
double OMcp0_16
Definition: mbs_sensor_ArmarIII_simplified_virt.h:279
ROcp0_95
double ROcp0_95
Definition: mbs_sensor_ArmarIII_simplified_virt.h:90
ROcp0_813
double ROcp0_813
Definition: mbs_sensor_ArmarIII_simplified_virt.h:125
ROcp0_511
double ROcp0_511
Definition: mbs_sensor_ArmarIII_simplified_virt.h:119
OMcp0_17
double OMcp0_17
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:94
ACcp0_216
double ACcp0_216
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:242
ROcp0_35
double ROcp0_35
Definition: mbs_sensor_ArmarIII_simplified_virt.h:88
RLcp0_216
double RLcp0_216
Definition: mbs_sensor_ArmarIII_simplified_virt.h:298
VIcp0_116
double VIcp0_116
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:238
OMcp0_213
double OMcp0_213
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:149
OPcp0_17
double OPcp0_17
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:113
ACcp0_116
double ACcp0_116
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:241
JTcp0_216_5
double JTcp0_216_5
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:203
OMcp0_217
double OMcp0_217
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:245
RLcp0_19
double RLcp0_19
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:103
ROcp0_88
double ROcp0_88
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:45
ROcp0_211
double ROcp0_211
Definition: mbs_sensor_ArmarIII_simplified_virt.h:116
OMcp0_314
double OMcp0_314
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:184
OMcp0_38
double OMcp0_38
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:99
OPcp0_115
double OPcp0_115
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:191
ROcp0_618
double ROcp0_618
Definition: mbs_sensor_ArmarIII_simplified_virt.h:150
OPcp0_37
double OPcp0_37
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:115
ROcp0_85
double ROcp0_85
Definition: mbs_sensor_ArmarIII_simplified_virt.h:89
ORcp0_311
double ORcp0_311
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:135
OMcp0_311
double OMcp0_311
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:132
ROcp0_89
double ROcp0_89
Definition: mbs_sensor_ArmarIII_simplified_virt.h:107
ORcp0_313
double ORcp0_313
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:175
ROcp0_36
double ROcp0_36
Definition: mbs_sensor_ArmarIII_simplified_virt.h:93
OMcp0_39
double OMcp0_39
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:108
ROcp0_68
double ROcp0_68
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:47
ROcp0_517
double ROcp0_517
Definition: mbs_sensor_ArmarIII_simplified_virt.h:143
ORcp0_19
double ORcp0_19
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:109
ROcp0_717
double ROcp0_717
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:96
ROcp0_515
double ROcp0_515
Definition: mbs_sensor_ArmarIII_simplified_virt.h:137
C7
double C7
Definition: mbs_sensor_ArmarIII_simplified_virt.h:9
OPcp0_212
double OPcp0_212
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:165
JTcp0_116_11
double JTcp0_116_11
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:220
POcp0_116
double POcp0_116
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:197
MbsSensor::J
double * J[7]
Jacobian matrix of the sensor: .
Definition: mbs_sensor2.h:29
RLcp0_116
double RLcp0_116
Definition: mbs_sensor_ArmarIII_simplified_virt.h:297
C8
double C8
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:9
RLcp0_314
double RLcp0_314
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:156
OMcp0_315
double OMcp0_315
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:200
S4
double S4
Definition: mbs_sensor_ArmarIII_simplified_virt.h:4
ROcp0_814
double ROcp0_814
Definition: mbs_sensor_ArmarIII_simplified_virt.h:131
RLcp0_213
double RLcp0_213
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:168
OPcp0_318
double OPcp0_318
Definition: mbs_sensor_ArmarIII_simplified_virt.h:308
ROcp0_412
double ROcp0_412
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:65
S10
double S10
Definition: mbs_sensor_ArmarIII_simplified_virt.h:14
S17
double S17
Definition: mbs_sensor_ArmarIII_simplified_virt.h:24
MbsSensor::P
double P[4]
Position vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:19
JTcp0_216_9
double JTcp0_216_9
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:215
JTcp0_116_7
double JTcp0_116_7
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:208
JTcp0_316_6
double JTcp0_316_6
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:207
OMcp0_214
double OMcp0_214
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:183
POcp0_216
double POcp0_216
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:198
ROcp0_514
double ROcp0_514
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:82
OPcp0_310
double OPcp0_310
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:126
OMcp0_317
double OMcp0_317
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:246
OPcp0_215
double OPcp0_215
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:192
ROcp0_210
double ROcp0_210
Definition: mbs_sensor_ArmarIII_simplified_virt.h:110
ROcp0_612
double ROcp0_612
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:67
JTcp0_216_15
double JTcp0_216_15
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:233
ROcp0_111
double ROcp0_111
Definition: mbs_sensor_ArmarIII_simplified_virt.h:115
ROcp0_411
double ROcp0_411
Definition: mbs_sensor_ArmarIII_simplified_virt.h:118
OPcp0_311
double OPcp0_311
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:138
JTcp0_116_5
double JTcp0_116_5
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:202
ORcp0_214
double ORcp0_214
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:190
JTcp0_316_15
double JTcp0_316_15
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:234
ROcp0_810
double ROcp0_810
Definition: mbs_sensor_ArmarIII_simplified_virt.h:113
RLcp0_316
double RLcp0_316
Definition: mbs_sensor_ArmarIII_simplified_virt.h:299
OMcp0_318
double OMcp0_318
Definition: mbs_sensor_ArmarIII_simplified_virt.h:305
OMcp0_210
double OMcp0_210
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:119
ROcp0_812
double ROcp0_812
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:69
ORcp0_316
double ORcp0_316
Definition: mbs_sensor_ArmarIII_simplified_virt.h:302
ROcp0_417
double ROcp0_417
Definition: mbs_sensor_ArmarIII_simplified_virt.h:142
S14
double S14
Definition: mbs_sensor_ArmarIII_simplified_virt.h:20
S15
double S15
Definition: mbs_sensor_ArmarIII_simplified_virt.h:22
RLcp0_113
double RLcp0_113
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:167
C6p7
double C6p7
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:37
OMcp0_312
double OMcp0_312
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:144
JTcp0_116_14
double JTcp0_116_14
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:229
OMcp0_110
double OMcp0_110
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:118
ORcp0_213
double ORcp0_213
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:174
C17
double C17
Definition: mbs_sensor_ArmarIII_simplified_virt.h:23
OMcp0_310
double OMcp0_310
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:120
ROcp0_714
double ROcp0_714
Definition: mbs_sensor_ArmarIII_simplified_virt.h:130
JTcp0_116_9
double JTcp0_116_9
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:214
ROcp0_213
double ROcp0_213
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:72
ROcp0_49
double ROcp0_49
Definition: mbs_sensor_ArmarIII_simplified_virt.h:103
OMcp0_117
double OMcp0_117
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:244
ORcp0_113
double ORcp0_113
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:173
OPcp0_210
double OPcp0_210
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:125
C18
double C18
Definition: mbs_sensor_ArmarIII_simplified_virt.h:25
ORcp0_29
double ORcp0_29
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:110
JTcp0_116_8
double JTcp0_116_8
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:211
JTcp0_216_6
double JTcp0_216_6
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:206
ORcp0_114
double ORcp0_114
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:189
ORcp0_111
double ORcp0_111
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:133
OPcp0_28
double OPcp0_28
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:101
ORcp0_18
double ORcp0_18
Definition: mbs_sensor_ArmarIII_simplified_virt.h:288
ROcp0_817
double ROcp0_817
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:97
JTcp0_216_13
double JTcp0_216_13
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:227
RLcp0_29
double RLcp0_29
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:104
ROcp0_310
double ROcp0_310
Definition: mbs_sensor_ArmarIII_simplified_virt.h:111
ROcp0_26
double ROcp0_26
Definition: mbs_sensor_ArmarIII_simplified_virt.h:92
S7
double S7
Definition: mbs_sensor_ArmarIII_simplified_virt.h:10
JTcp0_316_7
double JTcp0_316_7
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:210
ROcp0_110
double ROcp0_110
Definition: mbs_sensor_ArmarIII_simplified_virt.h:109
ROcp0_713
double ROcp0_713
Definition: mbs_sensor_ArmarIII_simplified_virt.h:124
C10
double C10
Definition: mbs_sensor_ArmarIII_simplified_virt.h:13
OMcp0_113
double OMcp0_113
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:148
OPcp0_211
double OPcp0_211
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:137
ACcp0_316
double ACcp0_316
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:243
ROcp0_311
double ROcp0_311
Definition: mbs_sensor_ArmarIII_simplified_virt.h:117
ROcp0_56
double ROcp0_56
Definition: mbs_sensor_ArmarIII_simplified_virt.h:95
ROcp0_79
double ROcp0_79
Definition: mbs_sensor_ArmarIII_simplified_virt.h:106
OMcp0_27
double OMcp0_27
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:95
S5
double S5
Definition: mbs_sensor_ArmarIII_simplified_virt.h:6
ROcp0_518
double ROcp0_518
Definition: mbs_sensor_ArmarIII_simplified_virt.h:149
S18
double S18
Definition: mbs_sensor_ArmarIII_simplified_virt.h:26
RLcp0_212
double RLcp0_212
Definition: mbs_sensor_ArmarIII_simplified_virt.h:292
OPcp0_218
double OPcp0_218
Definition: mbs_sensor_ArmarIII_simplified_virt.h:307
OMcp0_118
double OMcp0_118
Definition: mbs_sensor_ArmarIII_simplified_virt.h:303
C6
double C6
Definition: mbs_sensor_ArmarIII_simplified_virt.h:7
JTcp0_316_13
double JTcp0_316_13
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:228
OMcp0_19
double OMcp0_19
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:106
ROcp0_67
double ROcp0_67
Definition: mbs_sensor_ArmarIII_simplified_virt.h:99
OPcp0_112
double OPcp0_112
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:164
JTcp0_316_10
double JTcp0_316_10
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:219
ORcp0_116
double ORcp0_116
Definition: mbs_sensor_ArmarIII_simplified_virt.h:300
ROcp0_47
double ROcp0_47
Definition: mbs_sensor_ArmarIII_simplified_virt.h:97
POcp0_316
double POcp0_316
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:199
ROcp0_218
double ROcp0_218
Definition: mbs_sensor_ArmarIII_simplified_virt.h:146
q
#define q
OMcp0_313
double OMcp0_313
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:150
S6p7
double S6p7
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:41
ROcp0_66
double ROcp0_66
Definition: mbs_sensor_ArmarIII_simplified_virt.h:96
ROcp0_913
double ROcp0_913
Definition: mbs_sensor_ArmarIII_simplified_virt.h:126
C15
double C15
Definition: mbs_sensor_ArmarIII_simplified_virt.h:21
MbsSensor::OM
double OM[4]
Angular velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:22
ROcp0_912
double ROcp0_912
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:70
ROcp0_910
double ROcp0_910
Definition: mbs_sensor_ArmarIII_simplified_virt.h:114
ROcp0_27
double ROcp0_27
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:39
ORcp0_211
double ORcp0_211
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:134
ROcp0_78
double ROcp0_78
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:44
S13
double S13
Definition: mbs_sensor_ArmarIII_simplified_virt.h:18
RLcp0_312
double RLcp0_312
Definition: mbs_sensor_ArmarIII_simplified_virt.h:293
OMcp0_211
double OMcp0_211
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:131
C14
double C14
Definition: mbs_sensor_ArmarIII_simplified_virt.h:19
ROcp0_914
double ROcp0_914
Definition: mbs_sensor_ArmarIII_simplified_virt.h:132
RLcp0_39
double RLcp0_39
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:105
RLcp0_28
double RLcp0_28
Definition: mbs_sensor_ArmarIII_simplified_virt.h:286
S9
double S9
Definition: mbs_sensor_ArmarIII_simplified_virt.h:12
JTcp0_316_8
double JTcp0_316_8
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:213
S6
double S6
Definition: mbs_sensor_ArmarIII_simplified_virt.h:8
ROcp0_69
double ROcp0_69
Definition: mbs_sensor_ArmarIII_simplified_virt.h:105
ORcp0_312
double ORcp0_312
Definition: mbs_sensor_ArmarIII_simplified_virt.h:296
ROcp0_37
double ROcp0_37
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:40
ORcp0_216
double ORcp0_216
Definition: mbs_sensor_ArmarIII_simplified_virt.h:301
virt
void mbs_sensor_ArmarIV W Torso virt(MbsSensor *sens, MbsData *s, int isens)
Definition: mbs_sensor_ArmarIV-W-Torso-virt.c:36
ROcp0_710
double ROcp0_710
Definition: mbs_sensor_ArmarIII_simplified_virt.h:112
ROcp0_712
double ROcp0_712
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:68
JTcp0_216_12
double JTcp0_216_12
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:224
RLcp0_112
double RLcp0_112
Definition: mbs_sensor_ArmarIII_simplified_virt.h:291
JTcp0_216_4
double JTcp0_216_4
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:200
MbsSensor
Definition: mbs_sensor2.h:17
ROcp0_99
double ROcp0_99
Definition: mbs_sensor_ArmarIII_simplified_virt.h:108
C13
double C13
Definition: mbs_sensor_ArmarIII_simplified_virt.h:17
C5
double C5
Definition: mbs_sensor_ArmarIII_simplified_virt.h:5
OPcp0_313
double OPcp0_313
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:153
ORcp0_314
double ORcp0_314
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:191
ROcp0_414
double ROcp0_414
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:81
OPcp0_213
double OPcp0_213
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:152
JTcp0_116_10
double JTcp0_116_10
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:217
OPcp0_38
double OPcp0_38
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:102
OPcp0_312
double OPcp0_312
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:166
ROcp0_98
double ROcp0_98
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:46
ROcp0_17
double ROcp0_17
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:38
OMcp0_37
double OMcp0_37
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:96
JTcp0_116_12
double JTcp0_116_12
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:223
RLcp0_311
double RLcp0_311
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:129
MbsSensor::R
double R[4][4]
Rotation matrix from the inertial frame to the sensor frame: .
Definition: mbs_sensor2.h:20
ROcp0_115
double ROcp0_115
Definition: mbs_sensor_ArmarIII_simplified_virt.h:133
ROcp0_617
double ROcp0_617
Definition: mbs_sensor_ArmarIII_simplified_virt.h:144
MbsSensor::A
double A[4]
Acceleration vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:23
OMcp0_29
double OMcp0_29
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:107
OMcp0_26
double OMcp0_26
Definition: mbs_sensor_ArmarIII_simplified_virt.h:280
OMcp0_111
double OMcp0_111
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:130
ROcp0_59
double ROcp0_59
Definition: mbs_sensor_ArmarIII_simplified_virt.h:104
JTcp0_116_13
double JTcp0_116_13
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:226
ROcp0_25
double ROcp0_25
Definition: mbs_sensor_ArmarIII_simplified_virt.h:87
ROcp0_615
double ROcp0_615
Definition: mbs_sensor_ArmarIII_simplified_virt.h:138
VIcp0_316
double VIcp0_316
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:240
C11
double C11
Definition: mbs_sensor_ArmarIII_simplified_virt.h:15
C9
double C9
Definition: mbs_sensor_ArmarIII_simplified_virt.h:11
ROcp0_58
double ROcp0_58
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:46
ROcp0_917
double ROcp0_917
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:98
ROcp0_318
double ROcp0_318
Definition: mbs_sensor_ArmarIII_simplified_virt.h:147
OPcp0_111
double OPcp0_111
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:136
OPcp0_110
double OPcp0_110
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:124
ROcp0_48
double ROcp0_48
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:45
OMcp0_112
double OMcp0_112
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:142
qdd
#define qdd
ORcp0_39
double ORcp0_39
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:111
OMcp0_215
double OMcp0_215
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:199
OMcp0_18
double OMcp0_18
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:97
ROcp0_614
double ROcp0_614
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:83
ORcp0_28
double ORcp0_28
Definition: mbs_sensor_ArmarIII_simplified_virt.h:289
armarx::ctrlutil::s
double s(double t, double s0, double v0, double a0, double j)
Definition: CtrlUtil.h:33
OMcp0_212
double OMcp0_212
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:143
OPcp0_113
double OPcp0_113
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:151
OMcp0_115
double OMcp0_115
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:198
OMcp0_25
double OMcp0_25
Definition: mbs_sensor_ArmarIII_simplified_virt.h:277
mbs_sensor_ArmarIV-W-Torso-virt.h
ROcp0_313
double ROcp0_313
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:73
RLcp0_111
double RLcp0_111
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:127
JTcp0_116_15
double JTcp0_116_15
Definition: mbs_sensor_ArmarIV-W-Torso-virt.h:232
OMcp0_35
double OMcp0_35
Definition: mbs_sensor_ArmarIII_simplified_virt.h:278
ROcp0_415
double ROcp0_415
Definition: mbs_sensor_ArmarIII_simplified_virt.h:136
S12
double S12
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:18
RLcp0_214
double RLcp0_214
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:155
S11
double S11
Definition: mbs_sensor_ArmarIII_simplified_virt.h:16
ROcp0_512
double ROcp0_512
Definition: mbs_sensor_ArmarIV-GazeStab-virt.h:66