Robotran Matlab Documentation
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MBS_invdyn_opt Struct Reference

MBS inverse dynamics option structure. More...

Public Attributes

MBS_invdyn opt motion
 Determines how Qq (generalized joint forces), Qa (if any), Qc (if any) and lambda (Lagrange multiplier) are computed. More...
 
MBS_invdyn opt time
 Times at which the model is evaluated. More...
 
MBS_invdyn opt visualize
 Display of the 3D graphical model. More...
 
MBS_invdyn opt save2file
 Save the results as configuration files (tq, tqd, tqdd) More...
 
MBS_invdyn opt renamefile
 Name of the result files. More...
 
MBS_invdyn opt verbose
 Display of the information in the command window. More...
 
MBS_invdyn opt clearmbsglobal
 Deletion of the global variables. More...
 

Detailed Description

MBS inverse dynamics option structure.

Member Data Documentation

◆ clearmbsglobal

MBS_invdyn opt clearmbsglobal

Deletion of the global variables.

  • 'inout' : delete the global MBS_invdyn and MBS_data variables
  • 'out' : delete the global MBS_invdyn variable
  • 'none' : no deletion of the global variables
  • 'all' : delete all the global variables

◆ motion

MBS_invdyn opt motion

Determines how Qq (generalized joint forces), Qa (if any), Qc (if any) and lambda (Lagrange multiplier) are computed.

  • 'oneshot' : compute Qq, Qa (if any), Qc (if any) and lambda for the current state q, qd, qdd
  • 'trajectory' : compute Qq, Qa (if any), Qc (if any) and lambda based on option 'time'
    • if the system is fully controlled (nqu = 0) :

      Compute the generalized forces Qq, Qa (if any), Qc (if any) and &lambda using the function user_DrivenJoints() and the time vector specified in the option MBS_invdyn_opt.time.
    • if the system isn't fully controlled (nqu > 0) :
      Compute the generalized forces Qq, Qa (if any), Qc (if any) and &lambda from a triplet of configuration files containing the time and the generalized coordinates 't q' or the time and the independent generalized coordinate 't qu'.

◆ renamefile

MBS_invdyn opt renamefile

Name of the result files.

  • 'yes' : propose to rename the results files
  • 'no' : doesn't propose to rename the results files
    By default names of results files are 'simkin' (simkinq.res, simkinqd.res, ...)

◆ save2file

MBS_invdyn opt save2file

Save the results as configuration files (tq, tqd, tqdd)

  • 'yes'
  • 'no'

◆ time

Times at which the model is evaluated.

  • If motion = 'oneshot' : the time at which the system is evaluated (for the driven variables evaluated in user_DrivenJoints()).
  • If motion = 'trajectory' and the system is fully controlled : the vector containing the initial time, the time step and the final time at which the system is evaluated.
    example: [Tinit Tspan Tfinal]
  • If the system is not fully controlled, then the time of the configuration files replaces the value of this option.

default : 0.0

◆ verbose

MBS_invdyn opt verbose

Display of the information in the command window.

  • 'yes'
  • 'no'

◆ visualize

MBS_invdyn opt visualize

Display of the 3D graphical model.

  • 'yes'
  • 'no'

The documentation for this struct was generated from the following file: