user__hard__param__WO__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 : Wed Oct 19 16:52:50 2016

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

 *

 */

#pragma once


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


// gravity

#define G_3 -9.81


// mass

#define M_7 0.14

#define M_8 0.13

#define M_9 0.25

#define M_10 0.07

#define M_11 1.34

#define M_13 0.05


// center of mass

#define L_3_6 -0.046475

#define L_1_7 -0.00025

#define L_2_7 0.0191

#define L_2_8 0.014408

#define L_3_8 0.04275

#define L_1_9 -0.0131

#define L_2_9 0.00675

#define L_3_9 0.06085

#define L_1_10 -0.00035

#define L_2_10 0.01005

#define L_1_11 -0.00125

#define L_2_11 0.021056

#define L_3_11 0.082021

#define L_2_13 -0.00625

#define L_3_13 -0.002695


// inertia

#define IN_1_6 1

#define IN_5_6 1

#define IN_9_6 1

#define IN_1_7 0.0001

#define IN_5_7 9.6e-05

#define IN_9_7 0.000159

#define IN_1_8 0.000252

#define IN_5_8 0.000168

#define IN_9_8 0.000121

#define IN_1_9 0.000427

#define IN_5_9 0.000465

#define IN_9_9 0.000223

#define IN_1_10 3.2e-05

#define IN_5_10 2.7e-05

#define IN_9_10 2.5e-05

#define IN_1_11 0.009549

#define IN_5_11 0.007219

#define IN_9_11 0.008227

#define IN_1_13 1.5e-05

#define IN_5_13 2.2e-05

#define IN_9_13 1.4e-05


// body point

#define DPT_3_1 0.0338

#define DPT_3_2 0.1062

#define DPT_2_3 0.00465

#define DPT_1_4 -0.0465

#define DPT_2_4 -0.06315

#define DPT_3_4 0.07265

#define DPT_1_5 0.036


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