Code covered by the BSD License  

Highlights from
Biohydrodynamics Toolbox

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from Biohydrodynamics Toolbox by Alexandre Munnier
Tool to simulate easily the motion of moving solids or swimming robots in a potential fluid flow.

bht_euler_rhs page
bht_euler_rhs page
Biohydrodynamics Toolbox    

bht_euler_rhs


Return the right hand side term of the ODE that governs the motion of the articulated bodies.

Syntax

dP = bht_euler_rhs(t,P)

Description

The function is a sub-function of both main functions bht_traject_compute and bht_energy. It returns the right hand side term of the main vectorial ODE whose solutions are the trajectories of the articulated bodies. The variable P is a column vector obtained by concatenating the coordinates and orientations of the first links of each body (see Articulated Body's degrees of freedom for further details). The output variable dP is the time derivative of the input P at the time t.

See also

Where do the equations of motion used by BhT come from?
bht_traject_compute
bht_energy
2008 - A. Munnier and B. Pincon (Insitut Elie Cartan and INRIA Lorraine, Projet CORIDA, Nancy, France).       

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