
/* file hiddenvars.h
 *
 * Three-link snake
 */


/* The quantities below are of interest only for the
 * internal workings of the dynamics computations. */


double Q[MAX][3][3]; /* useful for slowband inbound */
double W[MAX][3][3]; /* useful for slowband inbound */
double T[MAX][3][3];  /* useful matrix */
double K[MAX][3][3]; /* recursive coefficient */
double d[MAX][3];  /* recursive coefficient */
double M[MAX][3][3];  /* recursive coefficient */
double fprime[MAX][3];  /* recursive coefficient */
double fdblprime[MAX][3]; /* above in parent coordinates */
double munitm[MAX][3][3];  /* mass of link times the unit matrix */
double mc[MAX][3]; /* mass of link times vector to centre of mass */
double mctilde[MAX][3][3];  /* mass times tilde matrix of vector to C. M.*/
double ltilde[MAX][3][3]; /* tilde of l */
double aC[MAX][3]; /* centripetal acceleration in frame of the parent hinge */
double maG[MAX][3]; /* force of gravity on the link*/
double fsigma[MAX][3]; /* a sum of forces useful in slowband */
double gsigma[MAX][3]; /* a sum of torques useful in slowband */
double g1sigma[MAX][3]; /* a sum of torques useful in fastband */
double deltarot[MAX][3]; /* accumulator for the incremental rotation vector*/
