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

MBS_invdyn opt 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'

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

• /builds/robotran/MBsysLab/mbs_modules/mbs_new_invdyn.m