Return velocity of provided joint primitive
cmb — Compiled multibody system
Compiled multibody system, specified as a
jointPrimitive — Path of joint primitive
string scalar | character vector
Path of the joint primitive, specified as a string scalar or character vector. Separate the path elements by using forward slashes.
state — State of compiled multibody system
State of the compiled multibody system, specified as a
simscape.multibody.State object. The
state object includes
the position and velocity of every joint primitive in the compiled multibody
vel — Velocity of joint primitive
Velocity of the joint primitive, returned as a
simscape.Value object. The form of the value depends on the type of the joint
|Primitive Type||Type of Returned Position|
status — Status of joint primitive in provided state
Status of the joint primitive in the given state, returned as a member of the
simscape.multibody.StateStatus class that indicates whether the
returned value is valid:
simscape.multibody.StateStatus.Valid: All kinematic constraints of the joint primitive are satisfied. Note that a valid status does not indicate that all the specified targets of the joint primitive have been met.
simscape.multibody.StateStatus.PositionViolation: Not all position constraints of the joint primitive are satisfied.
simscape.multibody.StateStatus.VelocityViolation: All position constraints of the joint primitive are satisfied, but not all velocity constraints of the joint primitive are satisfied.
simscape.multibody.StateStatus.SingularityViolation: All kinematic constraints of the joint primitive are satisfied, but the joint primitive is in a kinematic singularity.
To learn about attributes of methods, see Method Attributes.
Introduced in R2022a