MBS_solvekin_opt Struct Reference

MBS kinematics option structure. More...

Public Attributes
MBS_solvekin opt	motion
	Determines how qdd and &lambda are computed. More...
MBS_solvekin opt	time
	Times at which the model is evaluated. More...
MBS_solvekin opt	visualize
	Display of the 3D graphical model. More...
MBS_solvekin opt	save2file
	Save the results as configuration files (tq, tqd, tqdd) More...
MBS_solvekin opt	renamefile
	Name of the result files. More...
MBS_solvekin opt	verbose
	Display of the kinematics information in the command window. More...
MBS_solvekin opt	clearmbsglobal
	Deletion of the global variables. More...

Detailed Description

MBS kinematics option structure.

Todo:

document struct and each members

To be completed

Member Data Documentation

clearmbsglobal

MBS_solvekin opt clearmbsglobal

Deletion of the global variables.

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

motion

MBS_solvekin opt motion

Determines how qdd and &lambda are computed.

• 'oneshot' : Compute the qdd, &lambda given the initial condition q, qd
• 'trajectory' :
  • If the system is fully constrained (nqu = 0) : Compute the qdd, &lambda using the function user_DrivenJoints() and the time vector specified in the option MBS_solvekin.opt.time.
  • If the system is not fully controlled (nqu > 0) : Compute the qdd, &lambda from a triplet of configuration containing the time and the generalized coordinates 't q' or the time and independent generalized 't qu'.

    Todo:

    lambda, reference to MBS_solvekin.opt.time

renamefile

MBS_solvekin 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_solvekin opt save2file

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

• 'yes'
• 'no'

time

MBS_solvekin 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_solvekin opt verbose

Display of the kinematics information in the command window.

• 'yes'
• 'no'

visualize

MBS_solvekin 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_solvekin.m