user_hard_param_armar3.h
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1 /* --------------------------------------------------------
2  * This code was generated automatically by MBsysC modules.
3  * MBsysC modules are distributed as part of the ROBOTRAN
4  * software. They provides functionalities for dealing with
5  * symbolic equations generated by ROBOTRAN.
6  *
7  * More info on www.robotran.be
8  *
9  * Universite catholique de Louvain, Belgium
10  *
11  * Last update : Mon Nov 28 13:44:27 2016
12  * --------------------------------------------------------
13  *
14  */
15 #pragma once
16 
17 // ============================================================ //
18 
19 
20 // gravity
21 #define G_3 -9.81
22 
23 // mass
24 #define M_19 100
25 #define M_20 10
26 #define M_21 10
27 #define M_22 15.415
28 #define M_26 4
29 #define M_31 4
30 #define M_35 2
31 #define M_41 2
32 #define M_43 6.79877
33 #define M_50 0.2
34 #define M_53 0.1
35 
36 // center of mass
37 #define L_3_19 0.2
38 #define L_1_20 -0.0204972
39 #define L_2_20 -0.00397382
40 #define L_3_20 0.0206177
41 #define L_1_21 0.00321015
42 #define L_2_21 -0.030509
43 #define L_3_21 0.0307507
44 #define L_1_22 8.82263e-05
45 #define L_2_22 -0.0515883
46 #define L_3_22 0.326729
47 #define L_1_26 0.000322784
48 #define L_2_26 -0.00066283
49 #define L_3_26 -0.0261105
50 #define L_1_31 0.00594269
51 #define L_2_31 0.000196831
52 #define L_3_31 0.00187724
53 #define L_1_35 0.000133625
54 #define L_2_35 -0.025014
55 #define L_3_35 -0.0086066
56 #define L_1_41 -0.000169575
57 #define L_3_41 0.0811207
58 #define L_1_43 0.0482347
59 #define L_2_43 0.0555562
60 #define L_3_43 -3.11203e-05
61 
62 // inertia
63 #define IN_1_6 1
64 #define IN_5_6 1
65 #define IN_9_6 1
66 #define IN_1_8 1
67 #define IN_5_8 1
68 #define IN_9_8 1
69 #define IN_1_12 1
70 #define IN_5_12 1
71 #define IN_9_12 1
72 #define IN_1_16 1
73 #define IN_5_16 1
74 #define IN_9_16 1
75 #define IN_1_18 1
76 #define IN_5_18 1
77 #define IN_9_18 1
78 #define IN_1_19 11.463
79 #define IN_5_19 11.4032
80 #define IN_9_19 7.69988
81 #define IN_1_20 0.0290901
82 #define IN_5_20 0.157814
83 #define IN_9_20 0.158405
84 #define IN_1_21 0.0650181
85 #define IN_5_21 0.0810948
86 #define IN_9_21 0.0836428
87 #define IN_1_22 0.590639
88 #define IN_5_22 0.646737
89 #define IN_9_22 0.279395
90 #define IN_1_23 1
91 #define IN_5_23 1
92 #define IN_9_23 1
93 #define IN_1_24 1
94 #define IN_5_24 1
95 #define IN_9_24 1
96 #define IN_1_26 0.00450056
97 #define IN_5_26 0.00755895
98 #define IN_9_26 0.00802646
99 #define IN_1_31 0.00965944
100 #define IN_5_31 0.00941943
101 #define IN_9_31 0.00140315
102 #define IN_1_35 0.00293523
103 #define IN_5_35 0.0018698
104 #define IN_9_35 0.00270189
105 #define IN_1_41 0.00178099
106 #define IN_5_41 0.00381527
107 #define IN_9_41 0.00237757
108 #define IN_1_43 0.0637324
109 #define IN_5_43 0.0506593
110 #define IN_9_43 0.0509607
111 #define IN_1_45 1
112 #define IN_5_45 1
113 #define IN_9_45 1
114 #define IN_1_47 1
115 #define IN_5_47 1
116 #define IN_9_47 1
117 #define IN_1_50 2.16985e-05
118 #define IN_5_50 2.16826e-05
119 #define IN_9_50 1.33493e-05
120 #define IN_1_52 1
121 #define IN_5_52 1
122 #define IN_9_52 1
123 #define IN_1_53 4.33333e-05
124 #define IN_5_53 2.66667e-05
125 #define IN_9_53 4.33333e-05
126 
127 // body point
128 #define DPT_2_6 0.158
129 #define DPT_3_6 0.89
130 #define DPT_2_9 -0.035
131 #define DPT_3_9 0.485
132 #define DPT_3_10 0.118
133 #define DPT_3_15 0.12
134 #define DPT_1_17 0.001
135 #define DPT_2_17 0.15
136 #define DPT_3_17 0.001
137 #define DPT_3_18 0.0545
138 #define DPT_1_19 0.1
139 #define DPT_3_20 -0.0465
140 
141 // ============================================================ //
142