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transformation

Class: simscape.multibody.CompiledMultibody
Package: simscape.multibody

Compute 3-D transformation between two multibody frames in provided state

Description

T = transformation(cmb,baseFrame,followerFrame,state) computes the 3-D transformation between the specified base and follower frames of the multibody system, cmb, in the given state, state.

Input Arguments

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Compiled multibody system, specified as a simscape.multibody.CompiledMultibody object.

Path of the base frame, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "engine/CrankShaft/reference"

Path of the follower frame, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "engine/Rod_0/Bar/R"

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 system.

Output Arguments

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3-D transformation between the base and follower frames, returned as a simscape.multibody.Transformation object that maps follower-frame coordinates to base-frame coordinates.

Attributes

Accesspublic

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a