Entering Reverse Kinematics

Very nubi - are there any examples of how I enter my reverse kinematic equations for my tripod system. Not sure where to begin.

thanks John - I've read the section you referenced but that's where I need help - in section 1.4 the reference to the C code you add as a HAL component is where I draw a blank - if not here is there a better forum section on this subject.....
Dennis