Loop and Inverse Kinematics
===========================

Computation of the inverse kinematics of system containing constraints (kinematics 
constraints or user-specified). For more information, see `Robotran theoretical 
framework <http://robotran-doc.git-page.immc.ucl.ac.be/RobotranBasic/Robotran_basics.pdf>`_.

Code sample
-----------

For running the kinematics analysis while providing trajectory files, insert the 
following code in your main script and adapt it to your need:

.. code-block:: python

    mbs_data.process = 5
    mbs_solvekin = MBsysPy.MbsSolvekin(mbs_data)
    mbs_solvekin.set_options(motion = "trajectory",
                             trajectoryqname = "../resultsR/dirdyn_q.res",
                             trajectoryqdname = "../resultsR/dirdyn_qd.res",
                             trajectoryqddname = "../resultsR/dirdyn_qdd.res",
                             t0 = 1.3333, tf = 1.4, dt = 1e-4, framerate = 1e4
                            )
    mbs_solvekin.run()


You can compute the inverse kinematics by setting all independant joints as driven 
joints and defining the trajectory in :py:func:`user_DrivenJoints.user_DrivenJoints()`. The code 
to be inserted looks like:

.. code-block:: python

    # Set all independant joint as driven joint
    mbs_data.set_qdriven(mbs_data.qu[1:].tolist())
    
    mbs_data.process = 5
    mbs_solvekin = MBsysPy.MbsSolvekin(mbs_data)

    # Set the motion to be solved as a trajectory
    mbs_solvekin.set_options(motion = "trajectory")

    # Provide the time interval and time step to solve the inverse kinematics.
    mbs_solvekin.set_options(t0 = 0.0, tf = 6.0, dt = 1e-3)

    mbs_solvekin.run()

Use
---

.. py:currentmodule:: MBsysPy.mbsyspy.mbs_solvekin

The inverse kinematics computation requires an instance of :py:class:`MbsSolvekin`. 
Then the analysis is performed by calling the function :py:func:`MbsSolvekin.run`.

The options of the module are set with the function :py:func:`MbsSolvekin.set_options`.