user__hard__param__armar3_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 : Mon Nov 28 13:44:27 2016

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

 *

 */

#pragma once


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


// gravity

#define G_3 -9.81


// mass

#define M_19 100

#define M_20 10

#define M_21 10

#define M_22 15.415

#define M_26 4

#define M_31 4

#define M_35 2

#define M_41 2

#define M_43 6.79877

#define M_50 0.2

#define M_53 0.1


// center of mass

#define L_3_19 0.2

#define L_1_20 -0.0204972

#define L_2_20 -0.00397382

#define L_3_20 0.0206177

#define L_1_21 0.00321015

#define L_2_21 -0.030509

#define L_3_21 0.0307507

#define L_1_22 8.82263e-05

#define L_2_22 -0.0515883

#define L_3_22 0.326729

#define L_1_26 0.000322784

#define L_2_26 -0.00066283

#define L_3_26 -0.0261105

#define L_1_31 0.00594269

#define L_2_31 0.000196831

#define L_3_31 0.00187724

#define L_1_35 0.000133625

#define L_2_35 -0.025014

#define L_3_35 -0.0086066

#define L_1_41 -0.000169575

#define L_3_41 0.0811207

#define L_1_43 0.0482347

#define L_2_43 0.0555562

#define L_3_43 -3.11203e-05


// inertia

#define IN_1_6 1

#define IN_5_6 1

#define IN_9_6 1

#define IN_1_8 1

#define IN_5_8 1

#define IN_9_8 1

#define IN_1_12 1

#define IN_5_12 1

#define IN_9_12 1

#define IN_1_16 1

#define IN_5_16 1

#define IN_9_16 1

#define IN_1_18 1

#define IN_5_18 1

#define IN_9_18 1

#define IN_1_19 11.463

#define IN_5_19 11.4032

#define IN_9_19 7.69988

#define IN_1_20 0.0290901

#define IN_5_20 0.157814

#define IN_9_20 0.158405

#define IN_1_21 0.0650181

#define IN_5_21 0.0810948

#define IN_9_21 0.0836428

#define IN_1_22 0.590639

#define IN_5_22 0.646737

#define IN_9_22 0.279395

#define IN_1_23 1

#define IN_5_23 1

#define IN_9_23 1

#define IN_1_24 1

#define IN_5_24 1

#define IN_9_24 1

#define IN_1_26 0.00450056

#define IN_5_26 0.00755895

#define IN_9_26 0.00802646

#define IN_1_31 0.00965944

#define IN_5_31 0.00941943

#define IN_9_31 0.00140315

#define IN_1_35 0.00293523

#define IN_5_35 0.0018698

#define IN_9_35 0.00270189

#define IN_1_41 0.00178099

#define IN_5_41 0.00381527

#define IN_9_41 0.00237757

#define IN_1_43 0.0637324

#define IN_5_43 0.0506593

#define IN_9_43 0.0509607

#define IN_1_45 1

#define IN_5_45 1

#define IN_9_45 1

#define IN_1_47 1

#define IN_5_47 1

#define IN_9_47 1

#define IN_1_50 2.16985e-05

#define IN_5_50 2.16826e-05

#define IN_9_50 1.33493e-05

#define IN_1_52 1

#define IN_5_52 1

#define IN_9_52 1

#define IN_1_53 4.33333e-05

#define IN_5_53 2.66667e-05

#define IN_9_53 4.33333e-05


// body point

#define DPT_2_6 0.158

#define DPT_3_6 0.89

#define DPT_2_9 -0.035

#define DPT_3_9 0.485

#define DPT_3_10 0.118

#define DPT_3_15 0.12

#define DPT_1_17 0.001

#define DPT_2_17 0.15

#define DPT_3_17 0.001

#define DPT_3_18 0.0545

#define DPT_1_19 0.1

#define DPT_3_20 -0.0465


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