List kinematic variables assigned as targets
targetVariables( lists the kinematic
variables in the
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
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.
ks — Kinematic representation of multibody model to analyze
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.