Path: SC/DemoFuns
% The constraint equations and Jacobians.
The outputs are
Holonomic Non Holonomic
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phi phi
phiQ A
phiTDot 0
phiDot BDot
phiQDot ADot
where the holonomic constraints are of the form
phi(q,t) = 0
and the non holonomic constraints are of the form
A(q,t)qDot + B(q,t) = 0
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Form:
[phi, phiQ, phiTDot, phiDot, phiQDot] = KConst( x, t, constData )
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Inputs
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x (2n,1) The state vector [x;xDot]
t (1,1) Time
constData (:,:) Data to be passed to the constraint function [ L^2 ]
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Outputs
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phi (n,1) The constraint vector
phiQ (n,n) The Jacobian of the constraint vector with respect to the state
phiT (n,1) The Jacobian of the constraint vector with respect to time
phiDot (n,1) The derivative of the state vector with respect to time
phiQDot (n,n) The time derivative of the Jacobian marix
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Reference: Jalon, J.G., E. Bayo, "Kinematic and Dynamic Simulation of
Multibody Systems, The Real-Time Challenge," Springer-Verlag,
1993, pp. 164-170.
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