Drop select frame variables from the KinematicsSolver object
drops from the
ks the frame variables named in
variables capture the transforms between any two given frames. Use this function to remove
just a subset of frame variables if they become obsolete. Variables of the same type and in
the same group must be removed together.
The output is an updated table with the frame variables—those that remain—in rows. Each row gives the ID of a variable, the base frame against which its transform is defined, the follower frame which the transform describes, and the unit for its numerical value.
Frame and joint variables comprise the whole of kinematic variables in a
KinematicsSolver object. They can function as targets to constrain the
multibody configuration for which to solve the unknowns, as guesses to bias the solution
toward one of equally plausible alternatives when several exist, and as outputs—the unknowns
in the analysis.
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). Joint
variables are native to the object and can be assigned from its start as targets, guesses,
and outputs. Frame variables must first be created with
ks— Kinematics solver object
KinematicsSolver object is the representation of a Simscape
Multibody model used for kinematic analysis.
Example: ks = simscape.multibody.KinematicsSolver('sm_double_pendulum')
ids— Identifiers of kinematic variables to use