Specifications

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Notice that the leg has moved slightly to honor the constraint that the foot must be on the pedal.
3. Setting the ankle angle
The ankle in this body model is a universal joint, which means that it has two degrees of freedom. We wish
to constrain these to degrees of freedom to predefined values. This can be done by a so-called simple driver.
In the JointsAndDrivers file we shall introduce a driver section below the Joints folder:
AnyFolder Joints = {
AnyStdJoint SeatPelvis = {
AnyRefNode &Seat = Main.MyPedal.EnvironmentModel.GlobalRef.Hpoint;
AnySeg &Pelvis = Main.MyPedal.HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
};
AnySphericalJoint PedalFoot = {
AnyRefNode &Pedal = Main.MyPedal.EnvironmentModel.Pedal.FootNode;
AnyRefNode &Foot =
Main.MyPedal.HumanModel.Right.Leg.Seg.Foot.MetatarsalJoint2Node;
};
};
AnyFolder Drivers = {
};
We then insert the simple driver into the Drivers folder:
AnyFolder Drivers = {
AnyKinEqSimpleDriver AnkleDriver = {
AnyUniversalJoint &Ankle = Main.MyPedal.HumanModel.Right.Leg.Jnt.Ankle;
DriverPos = {};
DriverVel = {0, 0};
};
};
Most of this came about the same way as we have done previously: The definition of the
AnyKinEqSimpleDriver (and indeed its complex name) came from the object inserter in the Classes tree at
the left hand side of the editor window. The complete name of the ankle joint was inserted from the object
tree. The joint is going to be static, so the DriverVel specification was also easy to do. What is remaining is