SD/FAST Information File: utModelPrescribed.sd Generated 15-Feb-2006 17:06:40 by SD/FAST, Kane's formulation (sdfast B.2.8 #30123) on machine ID unknown ROADMAP (utModelPrescribed.sd) Bodies Inb No Name body Joint type Coords q Multipliers --- --------- ---- ----------- ---------------- ----------------------- -1 $ground | 0 pelvis -1 Sixdof 0? 1? 2? | ... 3? 4? 5? 33 | 0p 1p 2p 3p 4p 5p 1 hat 0 Gimbal 6? 7? 8? | 6p 7p 8p 2 rfemur 0 Gimbal 9? 10? 11? | 9p 10p 11p 3 rtibia 2 Gimbal 12? 13? 14? | 12p 13p 14p 4 rhindfoot 3 Gimbal 15? 16? 17? | 15p 16p 17p 5 rtoes 4 Gimbal 18? 19? 20? | 18p 19p 20p 6 lfemur 0 Gimbal 21? 22? 23? | 21p 22p 23p 7 ltibia 6 Gimbal 24? 25? 26? | 24p 25p 26p 8 lhindfoot 7 Gimbal 27? 28? 29? | 27p 28p 29p 9 ltoes 8 Gimbal 30? 31? 32? | 30p 31p 32p STATE INDEX TO JOINT/AXIS MAP (utModelPrescribed.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|34 0 0? Sixdof translate 1|35 . 1? . translate 2|36 . 2? . translate 3|37 . 3? . quaternion 4|38 . 4? . quaternion 5|39 . 5? . quaternion 6|40 1 0? Gimbal rotate 7|41 . 1? . rotate 8|42 . 2? . rotate 9|43 2 0? Gimbal rotate 10|44 . 1? . rotate 11|45 . 2? . rotate 12|46 3 0? Gimbal rotate 13|47 . 1? . rotate 14|48 . 2? . rotate 15|49 4 0? Gimbal rotate 16|50 . 1? . rotate 17|51 . 2? . rotate 18|52 5 0? Gimbal rotate 19|53 . 1? . rotate 20|54 . 2? . rotate 21|55 6 0? Gimbal rotate 22|56 . 1? . rotate 23|57 . 2? . rotate 24|58 7 0? Gimbal rotate 25|59 . 1? . rotate 26|60 . 2? . rotate 27|61 8 0? Gimbal rotate 28|62 . 1? . rotate 29|63 . 2? . rotate 30|64 9 0? Gimbal rotate 31|65 . 1? . rotate 32|66 . 2? . rotate 33| 0 6 Sixdof 4th quat SYSTEM PARAMETERS (utModelPrescribed.sd) Parameter Value Description nbod 10 no. bodies (also, no. of tree joints) njnt 10 total number of joints (tree+loop) ndof 33 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 34 no. position coordinates in state (tree joints) nu 33 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 33 total no. constraints defined nlc 0 no. loop joint constraints npresc 33 no. prescribed motion constraints nuserc 0 no. user constraints