simscape.multibody.CompiledMultibody Class

Namespace: simscape.multibody

Compiled multibody system

Since R2022a

Description

Use an object of the simscape.multibody.CompiledMultibody class to represent a compiled multibody system. To perform analyses on a simscape.multibody.Multibody object, you need a corresponding CompiledMultibody object. To create a CompiledMultibody object, use the compile method.

The compilation process checks the Multibody object for errors. If an error occurs, the compile method shows the problem and does not return a CompiledMultibody object.

After you create a CompiledMultibody object, subsequent changes to the corresponding Multibody object do not affect the CompiledMultibody object. To capture those changes, create a new CompiledMultibody object.

Class Attributes

Sealed	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Creation

To create a simscape.multibody.CompiledMultibody object for a simscape.multibody.Multibody object, use the compile method.

Methods

Public Methods

computeState	Compute state of compiled multibody system
computeDynamics	Compute dynamics results of compiled multibody model
jointPrimitivePosition	Return position of specified joint primitive
jointPrimitiveVelocity	Return velocity of provided joint primitive
jointPrimitiveAcceleration	Return acceleration of joint primitive
jointPrimitiveActuationForceTorque	Return actuation force or torque of joint primitive
plotKinematicGraph	Plot kinematic graph of compiled multibody system
transformation	Compute 3-D transformation between two multibody frames in provided state
visualize	Visualize compiled multibody system in given state

Version History

Introduced in R2022a