function idynplt
% plot inverse dynamics results

% By: Ton van den Bogert, University of Calgary
% Date: April 26, 1996
% Report problems to bogert@acs.ucalgary.ca

global eval dt kin frc mom fmg n m I fCM FMhip FMknee FMankle Mhip Mknee Mankle

time = 0:dt:dt*(n-1);
t1 = 30;
t2 = 90;
figure(1)

% plot the moments, and compare to DADS moments
subplot(322)
plot(time(t1:t2), Mhip(t1:t2), time(t1:t2),mom(t1:t2,1),'--');
axis([0.15 0.45 -50 100]);
ylabel('Mhip [Nm]');
%xlabel('TIME [s]');
subplot(324)
plot(time(t1:t2), Mknee(t1:t2), time(t1:t2),mom(t1:t2,2),'--');
axis([0.15 0.45 -50 150]);
ylabel('Mknee [Nm]');
%xlabel('TIME [s]');
subplot(326)
plot(time(t1:t2), Mankle(t1:t2), time(t1:t2),mom(t1:t2,3),'--');
axis([0.15 0.45 -50 200]);
ylabel('Mankle [Nm]');
xlabel('TIME [s]');

% plot the joint forces, and compare to DADS forces
subplot(321)
plot(time(t1:t2), FMhip(t1:t2), time(t1:t2),fmg(t1:t2,1),'--');
axis([0.15 0.45 0 2000]);
ylabel('Fhip [Nm]');
%xlabel('TIME [s]');
subplot(323)
plot(time(t1:t2), FMknee(t1:t2), time(t1:t2),fmg(t1:t2,2),'--');
axis([0.15 0.45 0 2000]);
ylabel('Fknee [Nm]');
%xlabel('TIME [s]');
subplot(325)
plot(time(t1:t2), FMankle(t1:t2), time(t1:t2),fmg(t1:t2,3),'--');
axis([0.15 0.45 0 2000]);
ylabel('Fankle [Nm]');
xlabel('TIME [s]');