SD/FAST Information File: b1ds.sd
Generated 21-Sep-2004 10:34:48 by SD/FAST, Kane's formulation
(sdfast B.2.6 #70405) on machine ID 690c54f5

ROADMAP (b1ds.sd)

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

Loop Joints                    Pseudo Coords lq

  5 r.shin     -1  Pin           0             |  0   1   2   3   4 


STATE INDEX TO JOINT/AXIS MAP (b1ds.sd)

 Index
  q|u   Joint  Axis   Joint type    Axis type    Joint Name
 -----  -----  ----   -----------   ----------   ----------
  0|5       0     0   Pin           rotate       
  1|6       1     0   Pin           rotate       
  2|7       2     0   Pin           rotate       
  3|8       3     0   Pin           rotate       
  4|9       4     0   Pin           rotate       

 lq|lu

  0|1       0     0   Pin           rotate       


SYSTEM PARAMETERS (b1ds.sd)

Parameter  Value  Description

nbod           5  no. bodies (also, no. of tree joints)
njnt           6  total number of joints (tree+loop)
ndof           5  no. degrees of freedom allowed by tree joints
nloop          1  no. loop joints
nldof          1  no. degrees of freedom allowed by loop joints

nq             5  no. position coordinates in state (tree joints)
nu             5  no. rate coordinates in state (tree joints)
nlq            1  no. position coordinates describing loop joints
nlu            1  no. rate coordinates describing loop joints

nc             5  total no. constraints defined
nlc            5  no. loop joint constraints
npresc         0  no. prescribed motion constraints
nuserc         0  no. user constraints

