Learn more about SimMechanics

mech_get_states - SimMechanics states from Simulink state vector

Syntax

[vector_mgr, mech_states] = mech_get_states(X, block) [vector_mgr, mech_states] = mech_get_states(X, vectorMgr) vector_mgr = mech_get_states(X, vectorMgr)

Description

[vector_mgr, mech_states] = mech_get_states(X, block) returns a state vector manager object. The object's values reflect the SimMechanics states in the Simulink state vector X for the SimMechanics machine containing block. The function also returns the mechanical states vector_mgr.X in mech_states.

[vector_mgr, mech_states] = mech_get_states(X, vectorMgr) extracts the mechanical states from the Simulink state vector X and returns them as an array of states suitable for assignment into vectorMgr.X. The state vector manager vectorMgr is not modified.

vector_mgr = mech_get_states(X, vectorMgr) returns a state vector manager object only.

The returned vector manager is an instance of the MECH.StateVectorMgr class, the same class as returned by the mech_stateVectorMgr function.

Inputs

mech_get_states accepts two possible combinations of two inputs.

`X`	The Simulink state vector for your model. `X` must be compatible with your Simulink model.
`block`	A string or block handle specifying the absolute path of a block in the machine that you want to query.
`vectorMgr`	A mechanical state vector manager object of the `MECH.StateVectorMgr` class.

Outputs

mech_get_states produces one or two outputs.

`vector_mgr`	An instance of the `MECH.StateVectorMgr` object class whose values reflect the mechanical state of the model.
`mech_states`	A vector of the mechanical state values. Identical to `vector_mgr.X`, if you use the first form of the function.

Examples

Assigning a Final Model State

Simulate a Stewart platform model for 10 seconds:

[t,x,y] = sim('mech_stewart_trajectory',10);

Then populate the state vector manager with this model's final state:

stewartStateVectorMgr = mech_get_states(x(end,:), ...
   'mech_stewart_trajectory/Plant/Machine Environment')

Returning the Mechanical State Vector Manager Alone

Call any form of the function with only one output. The function returns vector_mgr. Thus, the three entries at the command line

vm = mech_stateVectorMgr(block);
[vm , mech_states] = mech_get_states(X, vm);
vm.X = mech_states;

are equivalent to

vm = mech_get_states(X, block);