===== FP Type 1 =====

A Type 1 force platform is an explicit representation of the force vector that directly specifies the [[visual3d:documentation:visual3d_signal_types:force_data_type|Force]], [[visual3d:documentation:visual3d_signal_types:cofp_data_type|Centre of Pressure]], and [[visual3d:documentation:visual3d_signal_types:freemoment_data_type|Free Moment]] signals in the force platform's coordinate system.

==== Channels ====

A Type 1 force platform records 6 ANALOG channels containing the following information:
<code>
[Original Analog]= [Fx, Fy, Fz, Mx, My, Tz]
</code>

==== Calculating the Force Signals ====

Calculating the desired force signals in the force platform's coordinate system consists of the following steps:

  - Compute baselines by averaging the analog signals for the specified [[Visual3D:Documentation:Pipeline:Force_Commands:FP_ZERO|FP_ZERO]] frames
  - Subtract each channel's baseline from its recorded signal
  - Calculate the the Ground Reaction Force
  - Apply a threshold
  - Transform the signals into the [[visual3d:documentation:definitions:laboratory_coordinate_system|Laboratory Coordinate System]]

=== Force Vector ===
The Force vector for a Type 1 force platform is calculated as follows:
<code>
Force[X]= Fx
Force[Y]= Fy
Force[Z]= Fz
</code>

=== Centre of Pressure ===

The COFP signal for a Type 1 force platform is calculated as follows:
<code>
COP[X]= Mx*LengthConversion
COP[Y]= My*LengthConversion
COP[Z]= ORIGIN[Z]*LengthConversion
</code>

Where
<code>
LengthConversion = Point units conversion to meters
</code>
for example, if the POINT units are millimetres then the LengthConversion term is 0.001.

=== Free Moment ===

The Free Moment signal for a Type 1 force platform is calculated as follows:
<code>
FreeMoment[X]= 0
FreeMoment[Y]= 0
FreeMoment[Z]= Tz
</code>

=== Transforming Signals into the Laboratory Coordinate System ===

The [[visual3d:documentation:pipeline:force_commands:fp_corners#transforming_the_ground_reaction_force_into_the_laboratory_coordinate_system|transformation]] is defined by the location of the force platform corners, and is common to all force platforms.