It would be worthwhile for you to pause at this point in the tutor lesson and
solve the problem with paper and pencil--or even better, solve it with
Maple. Figure out the equations that describe the X-Y position of the
squatter's knee joint as functions of the ankle angle .
Once you've solved the problem yourself, you'll be in a better position to
understand how our C program solves the problem.
Eric N. Eide
Hamlet Project
Department of Computer Science
University of Utah