getf('book_play.sci') /// @@prerequisite
getf('profile.sci') /// @@prerequisite
getf('model.sci') /// @@prerequisite
getf('simul_car.sci') /// @@prerequisite
A=30;a=5.2;f=%pi/A;B=3;b=1;/// \sleftarrow{\normalfont curve parameters}
XI=A; /// \sleftarrow{\normalfont used to define boundaries of display}
del=.02;TT=[del:del:15];/// \sleftarrow{\normalfont instances {for} animation}
//  model parameters 
l=6;l2=l/2;m=1;d=4;g=10;gam=.5;
J=m*l2*l2/4;k=12;r2=d/4;
// compute reasonable initial state
x=-XI+.7;
y=d-m*g/2/k+F(x);xsi=y-F(x-l2)-.3;eta=y-F(x+l2)-.4;
X=[x;0;y;0;0;0;xsi;eta];
ST1=1;ST0=1;
[XX,T]=simul_car(TT,X); /// \sleftarrow{\normalfont simulation}
play(T,X,XI) /// \sleftarrow{\normalfont  animation}