/*******************************************************************************
REA - Residual Elimination Algorithm v2
Parameters used to compute generalized coordinate trajectories
that eliminate the need for residuals
*******************************************************************************/

/* stepsize	*/		/* Defaults to motion data step size, can optionally set the frequency of the output motion */
kincutofffrequency 6.0	/* This is used to compute appropriate GCVSPL (Woltring) spline smoothing parameters */
grfcutofffrequency 20.0	/* This is used to compute appropriate GCVSPL (Woltring) spline smoothing parameters for the ground reaction forces, torques and cp's */

/* Format:  gencoord weight */
/* Weight is used in computing the overall cost function to be minimized when varying the initial conditions */
beginreagencoords
pelvis_tilt 	1.0	
pelvis_list 	1.0	
pelvis_rot 	1.0	
pelvis_tx	2.0	
pelvis_ty	2.0	
pelvis_tz	2.0	
lumbar_ext	1.0	
lumbar_latbend 	1.0
lumbar_rot	1.0	
endreagencoords


beginprescribedgencoords
hip_flex_r	
hip_add_r		
hip_rot_r		
knee_angle_r	
ankle_angle_r	
subtalar_angle_r	
mtp_angle_r	
hip_flex_l	
hip_add_l		
hip_rot_l		
knee_angle_l	
ankle_angle_l	
subtalar_angle_l	
mtp_angle_l	
endprescribedgencoords


/* Format:  gencoord fixedangle */
beginfixedgencoords
endfixedgencoords