anchor.diff:     p%K_Y = InputFileData%TMD_Y_K
      p%C_Y = InputFileData%TMD_Y_C
   
  -   ! Start of the proposed change : Add TMD Mass_XY by sm 2015-0922 
      p%M_XY = InputFileData%TMD_XY_M
  -   ! End of the proposed change : Add TMD Mass_XY by sm 2015-0922 
      
        ! vector parameters
      ! stop positions
  
positive.code: 
        
        
       ! Start of the proposed change : Change EOMs for the omni-directional TMD by sm 2015/10/06
        IF (p%TMD_DOF_MODE == DOFMode_Omni) THEN
  
        ! tmd external forces of dependent degrees:
  
negative.code:             dxdt%tmd_x(4) =0
         END IF
  
         IF (p%TMD_DOF_MODE == DOFMode_Omni) THEN
              dxdt%tmd_x(1) = x%tmd_x(2)
              dxdt%tmd_x(2) = (omega_P_N(2)**2 + omega_P_N(3)**2 - K(1) / p%M_XY) * x%tmd_x(1) - ( OtherState%C_ctrl(1)/p%M_XY ) * x%tmd_x(2) - ( OtherState%C_Brake(1)/p%M_XY ) * x%tmd_x(2) + B_X + 1 / p%M_XY * ( OtherState%F_fr(1) ) - ( omega_P_N(1)*omega_P_N(2) - alpha_P_N(3) ) * x%tmd_x(3) + 2 * omega_P_N(3) * x%tmd_x(4)
  