64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
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//
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// Academic License - for use in teaching, academic research, and meeting
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// course requirements at degree granting institutions only. Not for
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// government, commercial, or other organizational use.
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//
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// calculateGravityForce.cpp
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//
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// Code generation for function 'calculateGravityForce'
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//
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// Include files
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#include "calculateGravityForce.h"
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#include "getGravityForce.h"
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#include "get_Kinematics.h"
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#include "rt_nonfinite.h"
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// Variable Definitions
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static emlrtRSInfo emlrtRSI = { 12, // lineNo
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"calculateGravityForce", // fcnName
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"C:\\R1000 EVT GravityForce V1\\calculateGravityForce.m"// pathName
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};
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static emlrtRSInfo b_emlrtRSI = { 13, // lineNo
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"calculateGravityForce", // fcnName
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"C:\\R1000 EVT GravityForce V1\\calculateGravityForce.m"// pathName
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};
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// Function Definitions
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void calculateGravityForce(const emlrtStack *sp, const real_T thetaMea[9],
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real_T GravityForce[6])
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{
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real_T expl_temp;
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real_T robot_m[9];
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real_T robot_I[81];
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real_T b_expl_temp[27];
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real_T c_expl_temp[27];
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real_T d_expl_temp[27];
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real_T e_expl_temp[27];
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real_T robot_slist[54];
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real_T f_expl_temp[9];
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real_T g_expl_temp[9];
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real_T h_expl_temp[9];
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real_T robot_Home_com[27];
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real_T robot_Home_R[81];
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real_T robot_Home_P[27];
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real_T robot_Home_M[144];
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struct_T robot_kine;
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real_T robot_gravity[3];
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emlrtStack st;
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st.prev = sp;
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st.tls = sp->tls;
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st.site = &emlrtRSI;
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get_Kinematics(&st, &expl_temp, robot_m, robot_I, b_expl_temp, c_expl_temp,
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d_expl_temp, e_expl_temp, robot_slist, f_expl_temp, g_expl_temp,
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h_expl_temp, robot_Home_com, robot_Home_R, robot_Home_P,
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robot_Home_M, &robot_kine, robot_gravity);
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st.site = &b_emlrtRSI;
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getGravityForce(&st, thetaMea, robot_m, robot_I, robot_slist, robot_Home_R,
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&robot_kine, robot_gravity, GravityForce);
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}
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// End of code generation (calculateGravityForce.cpp)
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