octave:2> a9=[1.366 1.366];a11=[1 .574];a15=[1.599 .75];a29x=[1.331 .75];a29y=[1.867 .75];
octave:3> a29y-a15
ans =

   0.26800   0.00000

octave:4> a15-a29x
ans =

   0.26800   0.00000

octave:5> AC=.268; % crank arm length;
octave:6> A=a15 % crank axle position
A =

   1.59900   0.75000

octave:7> B=a11 % lower pivot axle
B =

   1.00000   0.57400

octave:8> a27x=[.741 .75];a27y=[1.277 .75];a80p=[1.022 .894]
a80p =

   1.02200   0.89400

octave:9> norm(a27x-B)
ans =  0.31314
octave:10> norm(a27y-B)
ans =  0.32818
octave:11> a11=[1.009 .574];B=a11
B =

   1.00900   0.57400

octave:12> norm(a27x-B)
ans =  0.32062
octave:13> norm(a27y-B)
ans =  0.32062
octave:14> norm(a80p-B)
ans =  0.32026
octave:15> BH=.32026;  % lower pivot linkage length
octave:16> a33x=[0 0];a33y=[1 0];a35x=[.232 .866];a35y=[.768 .866];
octave:17> norm(a35x-a33x)
ans =  0.89654
octave:18> norm(a35y-a33y)
ans =  0.89654
octave:19> FG=.89654 % lower leg segment length
FG =  0.89654
octave:20> D=a9 % upper fixed point
D =

   1.3660   1.3660

octave:21> a37x=[.866 1.5];a37y=[1 1.732];
octave:22> norm(a37x-a9)
ans =  0.51764
octave:23> norm(a377-a9)
error: `a377' undefined near line 23 column 6
error: evaluating argument list element number 1
error: evaluating argument list element number 1
octave:23> norm(a37y-a9)
ans =  0.51760
octave:24> DE=.5176 % upper pivot link kength
DE =  0.51760
octave:25> norm(a37x-a33x)
ans =  1.7320
octave:26> norm(a37y-a33y)
ans =  1.7320
octave:27> EG = 1.732 % length from foot to leg tip (virtual)
EG =  1.7320
octave:28> 
octave:28> norm(a35x-a27x)
ans =  0.52205
octave:29> norm(a35y-a27y)
ans =  0.52205
octave:30> FH=.52205  % left crank arm length
FH =  0.52205
octave:31> norm(a29y-a27y)
ans =  0.59000
octave:32> norm(a29x-a27x)
ans =  0.59000
octave:33> CH = .59 % right rocker arm length
CH =  0.59000
octave:34> FH=.52205  % left rocker arm length
FH =  0.52205
octave:35> norm(a35y-a29y)
ans =  1.1051
octave:36> norm(a35x-a29x)
ans =  1.1051
octave:37> CF=1.1051  % dist bet. rocker arm endpoints (virtual)
CF =  1.1051
octave:38> xGFhat = a35x-a33x; xGFhat=xGFhat/norm(xGFhat)
xGFhat =

   0.25877   0.96594

octave:39> xGEhat=a37x-a33x; norm(xGEhat)
ans =  1.7320
octave:40> xGEhat = xGEhat/norm(xGEhat)
xGEhat =

   0.49999   0.86603

octave:41> acosd(dot(xGEhat,xGFhat))
ans =  15.002
octave:42> xGFhat = a35y-a33y; norm(yGFhat)
error: `yGFhat' undefined near line 42 column 26
error: evaluating argument list element number 1
error: evaluating argument list element number 1
octave:42> xGFhat = a35y-a33y; 
octave:43> xGFhat = a35x-a33x; xGFhat=xGFhat/norm(xGFhat)
xGFhat =

   0.25877   0.96594

octave:44> yGFhat = a35y-a33y; norm(yGFhat)
ans =  0.89654
octave:45> yGFhat=yGFhat/norm(yGFhat)
yGFhat =

  -0.25877   0.96594

octave:46> yGEhat=a37y-a33y; norm(yGEhat)
ans =  1.7320
octave:47> yGEhat = yGEhat/norm(yGEhat)
yGEhat =

   0   1

octave:48> acosd(dot(yGEhat,yGFhat))
ans =  14.997
octave:49> angleFGE=15 % use this angle to construct leg.
angleFGE =  15
octave:50> EGperp = FG*sind(angleFGE)
EGperp =  0.23204
octave:51> GEleft = FG*cosd(angleFGE)
GEleft =  0.86599
octave:52> GEright=EG-GEleft
GEright =  0.86601
octave:53> ff=[GEleft,EGperp];
octave:54> EF=norm([EG,0]-[GEleft,EGperp])
EF =  0.89656
octave:55> exit