--- a
+++ b/Body/AAUHuman/Trunk/SRMatrixesReduced.any
@@ -0,0 +1,68 @@
+//// Coefficient matrix
+//
+//Coef = {
+//{-1, 0, 0,   0, 0, 0,   0, 0, 0,   0, 0, 0,   0, 0, 0,   0, 0, 0,   7.105616e-002, 0, 0},
+//{0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+//{0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7.105616e-002},
+//
+//{0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2.276759e-001, 0, 0},
+//{0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.421123e-001, 0},
+//{0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2.276759e-001},
+//
+//{0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4.020500e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3.132395e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4.020500e-001},
+//
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 5.784718e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 4.908604e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 5.784718e-001},
+//
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 7.462112e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 6.660833e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 7.462112e-001},
+//
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 9.131695e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 8.263391e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 9.131695e-001}};
+//
+//// Constant vector
+//
+//Const = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+//
+//
+//
+
+// Coefficient matrix
+
+Coef = {
+{-1, 0, 0,   0, 0, 0,   0, 0, 0,   0, 0, 0,      7.105616e-002, 0, 0},
+{0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+{0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ,7.105616e-002},
+
+{0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 2.276759e-001, 0, 0},
+{0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 1.421123e-001, 0},
+{0, 0, 0, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 2.276759e-001},
+
+{0, 0, 0, 0, 0, 0, -1, 0, 0,  0, 0, 0, 4.020500e-001, 0, 0},
+{0, 0, 0, 0, 0, 0, 0, -1, 0,  0, 0, 0 ,0, 3.132395e-001, 0},
+{0, 0, 0, 0, 0, 0, 0, 0, -1,  0, 0, 0, 0, 0, 4.020500e-001},
+
+{0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 5.784718e-001, 0, 0},
+{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 4.908604e-001, 0},
+{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1,0, 0, 5.784718e-001}};
+
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0,  0, 7.462112e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0,  0, 6.660833e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1,  0, 0, 7.462112e-001}};
+//
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 9.131695e-001, 0, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 8.263391e-001, 0},
+//{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 0, 0, 9.131695e-001}};
+//
+// Constant vector
+
+Const = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+
+
+