SD/FAST Information File: sra.sd
Generated 27-Jun-2008 21:07:29 by SD/FAST, Kane's formulation
(sdfast B.2.8 #30123) on machine ID unknown

ROADMAP (sra.sd)

Bodies        Inb
No  Name      body Joint type  Coords q
--- --------- ---- ----------- ----------------
 -1 $ground                                    
  0 torso      -1  Planar        0   1   2     
  1 l.thigh     0  Pin           3             
  2 l.calf      1  Sliding       4             
  3 r.thigh     0  Pin           5             
  4 r.calf      3  Sliding       6             


STATE INDEX TO JOINT/AXIS MAP (sra.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   Sliding       translate    
  5|12      3     0   Pin           rotate       
  6|13      4     0   Sliding       translate    


SYSTEM PARAMETERS (sra.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             0  total no. constraints defined
nlc            0  no. loop joint constraints
npresc         0  no. prescribed motion constraints
nuserc         0  no. user constraints

