
##############################################################
#	file3.gen 30/05/2017 20:07:49    messages
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 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file3.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 8 : Constraints Vector (h) and Jacobian Matrix (Jac) 
Symbolic Equations Generation Aborted !!
Deallocating Memory...  
10 Equations removed from memory 
Removing 156 expressions... 
0 expressions remaining in memory 

--
Done

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#	file7.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file7.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 2 : Inverse Dynamics : RNEA
Symbolic Equations Generation...Done
Equations list processing... 
Selecting usefull equations 
Building result equations list... 
Removing useless equations... 
20 useless equations removed 
20 Equations removed from memory 
Substitution of variables with a single occurence 
Counting operations ... 
Building hierarchical structure... 
Equations list processing...Done 
Printing Equations... 
Printing Equations...Done 
Deallocating Memory...  
54 Equations removed from memory 
Removing 919 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file4.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file4.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F18 : Constraints Quadratic Velocity Terms (Jdqd)
Symbolic Equations Generation Aborted !!
Deallocating Memory...  
10 Equations removed from memory 
Removing 156 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file1b.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file1b.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 6 : Sensors Kinematical Informations (sens) 
Symbolic Equations Generation...Done
Equations list processing... 
Selecting usefull equations 
Building result equations list... 
Removing useless equations... 
56 useless equations removed 
56 Equations removed from memory 
Substitution of variables with a single occurence 
Counting operations ... 
Building hierarchical structure... 
Equations list processing...Done 
Printing Equations... 
Printing Equations...Done 
Deallocating Memory...  
75 Equations removed from memory 
Removing 726 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file0.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file0.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 1 : Direct Dynamics (Semi-Explicit formulation) : RNEA
Generating the forward kinematics equations 
Generating the backward dynamics equations 
Symbolic Equations Generation...Done
Equations list processing... 
Selecting usefull equations 
Building result equations list... 
Removing useless equations... 
85 useless equations removed 
85 Equations removed from memory 
Substitution of variables with a single occurence 
Counting operations ... 
Building hierarchical structure... 
Equations list processing...Done 
Printing Equations... 
Printing Equations...Done 
Deallocating Memory...  
135 Equations removed from memory 
Removing 2509 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file6.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file6.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F27 : Point to point Link3D Forces (frc,trq,Flink3D) 
Symbolic Equations Generation Aborted !!
Deallocating Memory...  
10 Equations removed from memory 
Removing 156 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file5.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file5.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F19 : External Forces
Symbolic Equations Generation...Done
Equations list processing... 
Selecting usefull equations 
Building result equations list... 
Removing useless equations... 
36 useless equations removed 
36 Equations removed from memory 
Substitution of variables with a single occurence 
Counting operations ... 
Building hierarchical structure... 
Equations list processing...Done 
Printing Equations... 
Printing Equations...Done 
Deallocating Memory...  
142 Equations removed from memory 
Removing 1104 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file2.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file2.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 7 : Point to point Link Forces (frc,trq,Flnk) 
Symbolic Equations Generation Aborted !!
Deallocating Memory...  
10 Equations removed from memory 
Removing 156 expressions... 
0 expressions remaining in memory 

--
Done

##############################################################
#	file1.gen 30/05/2017 20:07:49    messages
##############################################################
 ------------------------------- 
  ROBOTRAN - Symbolic Generator 
  Version 6.6 (build : february 22, 2008) 
  Pr. Paul FISETTE - 1990..1994 
  Dr. Tony POSTIAU - 2000..2004 
 ------------------------------- 
Symbolic generation file : /usr/local/robotran/users/TFE_walker/upload/file1.gen
Project : /usr/local/robotran/users/TFE_walker/upload/walker_straight.mbs
F 6 : Sensors Kinematical Informations (sens) 
Symbolic Equations Generation...Done
Equations list processing... 
Selecting usefull equations 
Building result equations list... 
Removing useless equations... 
48 useless equations removed 
48 Equations removed from memory 
Substitution of variables with a single occurence 
Counting operations ... 
Building hierarchical structure... 
Equations list processing...Done 
Printing Equations... 
Printing Equations...Done 
Deallocating Memory...  
162 Equations removed from memory 
Removing 811 expressions... 
0 expressions remaining in memory 

--
Done
