Solve It Yourself

It would be worthwhile for you to pause at this point in the tutor lesson and solve the problem with paper and pencil--or even better, solve it with Maple. Figure out the equations that describe the X-Y position of the squatter's knee joint as functions of the ankle angle tex2html_wrap_inline248 .

Once you've solved the problem yourself, you'll be in a better position to understand how our C program solves the problem.

Eric N. Eide
Hamlet Project
Department of Computer Science
University of Utah