List all kinematic variables assigned as outputs
outputVariables( lists the kinematic
variables in the
ks so far assigned as outputs. Both joint and frame variables can
serve in this role. Those that do are unknowns to solve for and report on during analysis.
Their solution is constrained by target variables and biased toward one of equally plausible
solutions, when several exist, by guess variables.
The output is a table with the output variables in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it derives if a frame variable, and the unit for its numerical value. The variables rank in the order added.
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). The
same variable can serve as guess and output or as target and output but not as guess and
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')