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List kinematic variables assigned as targets


targetVariables(ks) lists the kinematic variables in the KinematicsSolver object ks currently assigned as targets. Both joint and frame variables can serve in this role. Those that do serve as constraints to apply during analysis. Their values must be later defined in order to run the analysis. The solver, when called, searches for a solution compatible with the targeted joint and frame variables.

The output is a table with the target variables in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it spawns if a frame variable, and the unit for its numerical value. The variables rank in the order added.

The figure shows the variables of a general KinematicsSolver object. Target (T), guess (G), and output (O) variables can be joint variables (J) or frame variables (F). The same variable can serve as target and output, but if it serves as target, it cannot double as guess. Assigning a guess variable as target clears it as guess.

Input Arguments

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Kinematic representation of the multibody model on which to run the kinematic analysis. The representation is a KinematicsSolver object. It has joint variables and, when complete, frame variables, both playing roles as target variables, guess variables, or output variables.

Example: 'sm_four_bar'

Data Types: char | string

Introduced in R2019a