/* ----------------------------------------------------------------

Drivers for the model:

-The pelvis is locked to the ground 

-The remaining degrees of freedom are controlled by parameters in the mannequin.any file.

-This file is a good way to get an overview of the dof in the full body model

 all the dof in the body model is driven from this file.

-In total 

Soeren, March 1, 2006.

----------------------------------------------------------------  */

AnyFolder Drivers = {

  #include "<ANYBODY_PATH_BODY>/BodyModels/include/MannequinDrivers.any"

  // Aliases for convenient referencing

  AnyFolder &JntPos=..Mannequin.Posture;  

  AnyFolder &JntVel=..Mannequin.PostureVel;  

  AnyFolder &RefHM = Main.Model.HumanModel;

//  AnyFolder &Thorax = .HumanModel.Trunk.SegmentsThorax.ThoraxSeg;

//  AnyFolder &ref=.HumanModel.Trunk;

  // The body parts are included only if there is no unhallowed combination detected

  #ifdef UNHALLOWED_COMBINATION

  #else

  #include "TrunkDrivers.any"

  #if BM_ARM_RIGHT == ON

    #include "RightArmDrivers.any"

    #if BM_ARM_DETAILED_HAND == ON

      #include "RightHandDrivers.any"

    #endif

  #endif

  #if BM_ARM_LEFT == ON

  #include "LeftArmDrivers.any"

    #if BM_ARM_DETAILED_HAND == ON

    #include "LeftHandDrivers.any"

    #endif

  #endif

  #if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)

    #include "RightLegDrivers.any"

  #endif

  #if BM_LEG_LEFT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)

    #include "LeftLegDrivers.any"

  #endif

  #if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM

    #include "RightLegTDDrivers.any"

  #endif

  #if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM

    #include "LeftLegTDDrivers.any"

  #endif

  #endif

};//Drivers