SD/FAST Information File: b1c.sd
Generated 21-Sep-2004 10:32:03 by SD/FAST, Kane's formulation
(sdfast B.2.6 #70405) on machine ID 690c54f5

ROADMAP (b1c.sd)

Bodies        Inb
No  Name      body Joint type  Coords q         Multipliers
--- --------- ---- ----------- ---------------- -----------------------
 -1 $ground                                    |
  0 pelvis     -1  Planar        0   1   2     |
  1 l.thigh     0  Pin           3             |
  2 l.shin      1  Pin           4             |
  3 r.thigh     0  Pin           5             |
  4 r.shin      3  Pin           6             |

User Constraints

  0 user_0                                     |  0
  1 user_1                                     |  1
  2 user_2                                     |  2
  3 user_3                                     |  3


STATE INDEX TO JOINT/AXIS MAP (b1c.sd)

 Index
  q|u   Joint  Axis   Joint type    Axis type    Joint Name
 -----  -----  ----   -----------   ----------   ----------
  0|7       0     0   Planar        translate    
  1|8       .     1   .             translate 
  2|9       .     2   .             rotate    
  3|10      1     0   Pin           rotate       
  4|11      2     0   Pin           rotate       
  5|12      3     0   Pin           rotate       
  6|13      4     0   Pin           rotate       


SYSTEM PARAMETERS (b1c.sd)

Parameter  Value  Description

nbod           5  no. bodies (also, no. of tree joints)
njnt           5  total number of joints (tree+loop)
ndof           7  no. degrees of freedom allowed by tree joints
nloop          0  no. loop joints
nldof          0  no. degrees of freedom allowed by loop joints

nq             7  no. position coordinates in state (tree joints)
nu             7  no. rate coordinates in state (tree joints)
nlq            0  no. position coordinates describing loop joints
nlu            0  no. rate coordinates describing loop joints

nc             4  total no. constraints defined
nlc            0  no. loop joint constraints
npresc         0  no. prescribed motion constraints
nuserc         4  no. user constraints

