ADDED   mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt
Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_input.txt
@@ -0,0 +1,16 @@
+# Numerical parameter file (BouncingRod_input.txt)
+# Generated by MTT at Fri Jul  4 14:09:14 BST 1997
+
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% Version control history
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% $Id$
+# %% $Log$
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+# Set the inputs
+u(1) =	1.0; # gravity (Default value)
+
+# Set the switches
+bouncingrod_groundl= (x[3]<=0);
+bouncingrod_groundr= (x[4]<=0);

ADDED   mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt
Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_lbl.txt
@@ -0,0 +1,38 @@
+%SUMMARY BouncingRod: <brief description here>
+%DESCRIPTION <Detailed description here>
+%% Label file for system BouncingRod (BouncingRod_lbl.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Each line should be of one of the following forms:
+%	a comment (ie starting with %)
+%	Component-name	CR_name	arg1,arg2,..argn
+%	blank
+
+
+
+% Component type CSW
+	groundL		lin	effort,epsilon
+	groundR		lin	effort,epsilon
+
+% Component type INTF
+	intfL
+	intfR
+
+% Component type ROD
+	rod		none	l;l;j;m
+
+% Component type SS
+	aL		0		internal
+	aR		0		internal
+	gravity		external	internal
+	hL		external	0
+	hR		external	0
+	xC		0		internal
+	xL		0		internal
+	xR		0		internal

ADDED   mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt
Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt
@@ -0,0 +1,33 @@
+# Numerical parameter file (BouncingRod_numpar.txt)
+# Generated by MTT at Fri Jul  4 14:09:11 BST 1997
+
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% Version control history
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% $Id$
+# %% $Log$
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+float theta,height;
+
+# Parameters
+epsilon = 	0.1; 
+l = 	1.0; # Default value
+m = 	1.0; # Default value
+j = 	l*l*m/3;
+
+
+theta = 3.1416/4;
+height = 10.0;
+
+# Initial states
+x(1) = 	0.0; # Initial state for BouncingRod_groundL (MTT_SWITCH)
+x(2) = 	0.0; # Initial state for BouncingRod_groundR (MTT_SWITCH)
+x(3) = 	height+l*cos(theta); # Initial state for BouncingRod_intfL (3)
+x(4) = 	height-l*cos(theta); # Initial state for BouncingRod_intfR (3)
+x(5) = 	0.0; # Initial state for BouncingRod_rod (J)
+x(6) = 	0.0; # Initial state for BouncingRod_rod (m_x)
+x(7) = 	0.0; # Initial state for BouncingRod_rod (m_y)
+x(8) = 	theta; # Initial state for BouncingRod_rod_th (3)
+
+

ADDED   mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h
Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_odes.h
@@ -0,0 +1,7 @@
+/*
+%% Parameter file for system BouncingRod (BouncingRod_odes.h)
+%% This file provides the params for simulation:
+*/
+#define DT 0.1 /* Time step (for printing) */
+#define LAST 99.9 /* Last time */
+#define STEPFACTOR 1000 /* Integration steps per time step */

ADDED   mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt
Index: mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt
@@ -0,0 +1,18 @@
+# Outline report file for system BouncingRod (BouncingRod_rep.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+mtt -s -o -c BouncingRod abg tex
+mtt -s -o -c BouncingRod struc tex
+mtt -s -o -c BouncingRod ode tex
+mtt -s -o -c BouncingRod odes h
+mtt -s -o -c BouncingRod numpar txt
+mtt -s -o -c BouncingRod input txt
+mtt -s -o -c BouncingRod odeso ps
+
+