transformation

Class: simscape.multibody.CompiledMultibody
Namespace: simscape.multibody

Compute 3-D transformation between two multibody frames in provided state

Since R2022a

Syntax

T = transformation(cmb,baseFrame,followerFrame,state)

Description

T = transformation(cmb,baseFrame,followerFrame,state) computes the 3-D transformation between the specified base and follower frames of the multibody system, cmb, in the given state, state.

Input Arguments

cmb — Compiled multibody system

simscape.multibody.CompiledMultibody object

Compiled multibody system, specified as a simscape.multibody.CompiledMultibody object.

baseFrame — Path of base frame

string scalar | character vector

Path of the base frame, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "engine/CrankShaft/reference"

followerFrame — Path of follower frame

string scalar | character vector

Path of the follower frame, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "engine/Rod_0/Bar/R"

state — State of compiled multibody system

simscape.multibody.State object

State of the compiled multibody system, specified as a simscape.multibody.State object. The state object includes the position and velocity of every joint primitive in the compiled multibody system.

Output Arguments

T — 3-D transformation between base and follower frames

simscape.multibody.Transformation object

3-D transformation between the base and follower frames, returned as a simscape.multibody.Transformation object that maps follower-frame coordinates to base-frame coordinates.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a