computeDynamics

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

Compute dynamics results of multibody model

Since R2024a

Syntax

dynamicsResult = computeDynamics(cmb,state,jointActuation)

Description

dynamicsResult = computeDynamics(cmb,state,jointActuation) computes the dynamics results of the multibody model, cmb, with the state, state, and the given joint actuations, jointActuation. For an example on how to solve dynamics problems of a multibody model, see Examples.

Input Arguments

cmb — Compiled multibody system

simscape.multibody.CompiledMultibody object

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

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.

jointActuation — Joint primitive actuations

simscape.multibody.JointActuationDictionary object

Joint primitive actuations, specified as a simscape.multibody.JointActuationDictionary object. The JointActuationDictionary object stores the forces and torque to apply to the desired joint primitives in the compiled multibody system.

Output Arguments

dynamicsResult — Dynamics results of multibody model

simscape.multibody.DynamicsResult object

Dynamics results of the multibody model, returned as a simscape.multibody.DynamicsResult object. You can use the DynamicsResult object to query the dynamics results, such as the accelerations of desired joint primitives.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2024a