Compute state of compiled multibody system
computeState method attempts to satisfy the targeted joint
primitives specified by the
OperatingPoint object as much as possible.
However, in some cases, to find a complete state that satisfies all of the kinematic
constraints, some targets may not be met.
cmb — Compiled multibody system
Compiled multibody system, specified as a
op — Targeted joint primitives
Targeted joint primitives, specified as a
simscape.op.OperatingPoint object. Use an
object to target the positions and velocities of desired joint primitives in the
compiled multibody system.
You can specify the priority for each individual target. The
computeState method searches for a solution that is compatible with
all the high-priority targets. However, in some cases, some targets may not be met. When
multiple solutions exist, low-priority targets can help bias the method to converge on
the desired one.
state — State of compiled multibody system
State of the compiled multibody system with specified targets, returned as a
simscape.multibody.State object. The
State object includes
the position and velocity of each joint primitive in the compiled multibody
To learn about attributes of methods, see Method Attributes.
Introduced in R2022a