InitCondition

 Script file: 
       InitCondition.m

 Purpose:
       Initial Conditions for the Compass Gait Model

 Revisions:
       Date          Programmer      Description

       2009.05.02    Fumiya Iida     Original code

0001 % Script file:
0002 %       InitCondition.m
0003 %
0004 % Purpose:
0005 %       Initial Conditions for the Compass Gait Model
0006 %
0007 % Revisions:
0008 %       Date          Programmer      Description
0009 %
0010 %       2009.05.02    Fumiya Iida     Original code
0011 %
0012 
0013 global qx0;
0014 
0015 % theta1, theta2, theta1_dot, theta2_dot
0016 xi  = [-0.1016    0.1007   -0.3431   -0.5436];
0017 phi = 4.5;
0018 
0019 qx0 = [0.02 0]';
0020 
0021 % Passive walker
0022 % xi =[0.0 0.0 2.0 -0.4];
0023 % phi = 4.5;
0024 %
0025 % qx0 = [0.0 0]';
0026 
0027 
0028 
0029