For now, the problem we want to solve is this:
Given the conditions described in the text above and in the diagrams, and given
an angle for the squatter's ankle joint (call this angle ), we want
to determine the X-Y position of the squatter's knee joint. Remember: the
weight must always be directly over the feet.
The angle will be measured in degrees counterclockwise from the
positive X axis. (Or more precisely, will be measured in degrees
counterclockwise, from a ray in the positive X direction passing though the
ankle joint, to the shin link.) So when the squatter is standing straight up,
the ankle joint angle will be 90 degrees.
Eric N. Eide
Hamlet Project
Department of Computer Science
University of Utah