gait2dpi_dGRF.h

// gait2dpi_dGRF.h
// This file defines the data structure that holds model parameters.
// It is needed to pass model parameters to the Autolev generated C code
// in gait2dpi_dGRF_org.c

#define NDOF 9		/* number of kinematic degrees of freedom */
#define NMOM 6		/* number of joint moments */
#define NSTICK 10	/* number of stick figure points */

typedef struct {
    double gravity;     // local gravitational acceleration

// Body segment parameters
	double TrunkMass, TrunkInertia, TrunkCMy;
	double ThighMass, ThighInertia, ThighCMy, ThighLen;
	double ShankMass, ShankInertia, ShankCMy, ShankLen;
	double FootMass, FootInertia, FootCMx, FootCMy;

// Parameters for the ground contact model
	double ContactY;
	double ContactHeelX, ContactToeX;
	double ContactStiff, ContactDamp, ContactV0, ContactFric;

} param_struct;

// function prototype for the Q(q,qd,qdd) function
void gait2dpi_dGRF(param_struct* par, double q[NDOF], double qd[NDOF], double qdd[NDOF],
   double Vsurfaces[2], double QQ[NDOF], double dQQ_dq[NDOF*NDOF],
   double dQQ_dqd[NDOF*NDOF], double dQQ_dqdd[NDOF*NDOF],
   double grf[6], double dgrf_dq[6*NDOF], double dgrf_dqd[6*NDOF],
   double stick[NSTICK*2]);