AnyFolder &BikeParameters = Main.BikeParameters;

/// This is the joint connecting the Pelvis segment to the bike.

AnyKinLinear SaddleJointLin = {

  //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis;

  AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter;

  AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos;

};

AnyKinEq SaddelJointLinConstraints = {

  AnyKinLinear &ref= .SaddleJointLin;

};

AnyKinRotational SaddelJointRot ={

  //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis;

  AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter;

  AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos;

  Type=RotAxesAngles;

};

AnyKinEqSimpleDriver SaddelRotation = {

  AnyKinRotational &Jnt = .SaddelJointRot;

  DriverPos = {0.15*pi,0,0};

  DriverVel = {0.0,0,0};

  //Setting Reaction.Type=1 means that the joint will generate the moment it will 

  //need to balance this DOF, setting it to 0 which is default will mean that muscles 

  //forces will be used for balancing the joint

  Reaction.Type = {On,On,On}; 

};

AnyFolder Right = {

  // This is the joint connecting the foot to the pedal. It simply

  // specifies that the linear distances between the two must be zero

  AnyKinLinear PedalJointLin = {

    AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint;

    AnyRefNode &PedalR= ....BikeModel.Crank.RPedal;

  };

  AnyKinMeasureOrg PedalJointLinXY = {

    AnyKinLinear &ref=.PedalJointLin;

    MeasureOrganizer={0,1};

  };

  AnyKinEq PedalJointLinConstraints = {

    AnyKinMeasureOrg  &ref= .PedalJointLinXY;

  };

  // This measure is for controlling the rotation.

  AnyKinRotational PedalJointRot = {

    AnyRefFrame &Ground = ....BikeModel.BikeFrame;

    AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint;

    Type=RotAxesAngles;

  };

  AnyKinMeasureOrg FootRMovement = {

    AnyKinRotational &GroundFoot = .PedalJointRot;

    MeasureOrganizer = {0,1};  // Standard rotational order = z,y,x = 0,1,2

  }; 

  AnyKinEqFourierDriver PedalRRotationFourier = {

    AnyKinMeasure& Jnt = .FootRMovement;

    Type = CosSin;

    AnyVar a0 = -0.3797-0.5*pi;

    AnyVar a1 = -0.0205;

    AnyVar b1 = 0.3393;

    AnyVar a2 = 0.004906;

    AnyVar b2 = 0.03654;

    AnyVar w = 7.681;

    Freq = ..BikeParameters.Cadence/60; 

    //    A = { {a0+0.5*pi,a1,a2},{0, 0,0}  };

    //    B = {{0,b1,b2},{0, 0,0} }; 

    //    Reaction.Type = {Off,Off};

    A = { {a0+0.5*pi,a1,a2}  };

    B = {{0,b1,b2} }; 

    Reaction.Type = {Off};

    MeasureOrganizer={0};

  };

};

AnyFolder Left = {

  // This is the joint connecting the foot to the pedal. It simply

  // specifies that the linear distances between the two mush be zero

  AnyKinLinear PedalJointLin = {

    AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint;

    AnyRefNode &PedalR= ....BikeModel.Crank.LPedal;

  };

  AnyKinMeasureOrg PedalJointLinXY = {

    AnyKinLinear &ref=.PedalJointLin;

    MeasureOrganizer={0,1};

  };

  AnyKinEq PedalJointLinConstraints = {

    AnyKinMeasure& ref= .PedalJointLinXY;

  };

  // This measure is for controlling the rotation.

  AnyKinRotational PedalJointRot = {

    AnyRefFrame &Ground = ....BikeModel.BikeFrame;

    AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint;

    Type=RotAxesAngles;

  };

  AnyKinMeasureOrg FootLMovement = {

    AnyKinRotational &GroundFoot = .PedalJointRot;

    MeasureOrganizer = {0,1};  // Standard rotational order = z,y,x = 0,1,2

  }; 

  AnyKinEqFourierDriver PedalLRotationFourier ={

    AnyKinMeasure& Jnt = .FootLMovement;

    Type = CosSin;

    AnyVar a0 = -0.3792-0.5*pi;

    AnyVar a1 = 0.0205;

    AnyVar b1 = -0.3373;

    AnyVar a2 = 0.004906;

    AnyVar b2 = 0.03654;

    AnyVar w = 7.681;

    Freq = ..BikeParameters.Cadence/60; 

    //    A = { {a0+0.5*pi,a1,a2},{0, 0,0}  };

    //    B = {{0,b1,b2},{0, 0,0} }; 

    //    Reaction.Type = {Off,Off};

    A = { {a0+0.5*pi,a1,a2} };

    B = {{0,b1,b2} }; 

    Reaction.Type = {Off};

    MeasureOrganizer={0};

  };

};