Learn more about SimMechanics

mech_runtime_states - SimMechanics states from running simulation

Syntax

X = mech_runtime_states(vectorMgr) [X, RTO] = mech_runtime_states(vectorMgr) [X, RTO] = mech_runtime_states(vectorMgr, RTO)

Description

X = mech_runtime_states(vectorMgr) returns the vector of instantaneous SimMechanics states in the machine associated with the state vector manager vectorMgr in an executing model. The contents of vectorMgr are not altered.

[X, RTO] = mech_runtime_states(vectorMgr) also returns the Simulink runtime object (RTO) that contains the SimMechanics states. You can use this form to speed up future calls to this function.

[X, RTO] = mech_runtime_states(vectorMgr, RTO) uses the Simulink runtime object RTO assumed to correspond to the machine associated with vectorMgr. This form of the function is faster than the others.

The returned value X has a format that you can assign to vectorMgr.X, which you can then use to interpret the states.

Inputs

mech_runtime_states accepts one or two inputs.

`vectorMgr`	A mechanical state vector manager as returned by the `mech_stateVectorMgr` function. This input is required.
`RTO`	A Simulink runtime object that corresponds to the machine referenced by `vectorMgr`. This input is optional.

Outputs

mech_runtime_states produces one or two outputs.

`X`	The vector of mechanical state values at the instant you query the running model.
`RTO`	A Simulink runtime object.

Example

Displaying Mechanical State Values During Simulation

Enter the following script at the command line.

modelName = 'mech_stewart_trajectory';
open(modelName);
groundBlock = find_system(modelName, 'Name', 'Ground1');

vm = mech_stateVectorMgr(groundBlock{1});
set_param(modelName, 'SimulationCommand', 'Start')
[vm.X, rto] = mech_runtime_states(vm)

try
   while (true)
      vm.X = mech_runtime_states(vm, rto);
      clc;
      vm.BlockStates(1) % display
      pause(0.5);
   end
catch myException
   set_param(modelName, 'SimulationCommand', 'Stop')
   throw(myException), throwAsCaller(myException);
end

set_param(modelName, 'SimulationCommand', 'Stop')

This script displays and updates the state of the first Joint in the Stewart platform model, mech_stewart_trajectory. The results appear in the command window. Press Ctrl+C at the keyboard to halt the simulation. (Ignore the error message that results.)