foot_ik_ankle

A (Ankle)

I (ray/floor intersection)

C (Corrected Ankle)

foot height length

B

floorA = Point(yAxis)
floorb = Point(xAxis)
ground = Line(floorA, floorb)
A = (4.5, 10.5)
C_1 = (4.5, 10.5)
D = (4.5, 9.5)
down = Vector(C_1, D)
ray = Line(A, down)
I = Intersect(ground, ray)
f = OrthogonalLine(A, ground)
C = Point(ray)
g = Line(C, f)
H = Intersect(ground, g)
h = Segment(H, C)
G = Intersect(ground, f)
distanceAnkleI = Distance(A, I)
m = Slope(ground)
α = Angle(ground, f)
β = Angle(ground, h)