FIC:

Path: SC/DemoFuns

% Sliding mass on a pendulum using independent coordinates
 q are angles.
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   Form:
   qDot = FIC( q, t, m1, m2, L, g )
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   ------
   Inputs
   ------
   q            (4,1)     The state vector [q1;q2;q1Dot;q2Dot]
   t            (1,1)     Time
   m1           (1,1)     Mass 1
   m2           (1,1)     Mass 2
   L            (1,1)     Pendulum length
   g            (1,1)     Acceleration of gravity

   -------
   Outputs
   -------
   qDot         (4,1)     The derivative of the state vector

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