% Script to set various parameters for compass gait functions.
% Katie Byl (1/19/2010). ECE584D, Winter 2010. (UCSB)


% Constants defining geometry and mass distribution:
a = .5; b = .5;    % lower and upper leg lengths
L = a + b;         % total leg length
m = 5; mh = 10;    % mass on leg and at "hip", respectively
gam_slope = cg_gam_slope;
%gam_slope = 3*pi/180;  % downhill slope
g = 9.81;          % gravity
