State of compiled multibody system
Use an object of the
simscape.multibody.State class to include the position
and velocity of every joint primitive in a compiled multibody system. You use the
State object in may analyses, such as computing the position or velocity of
a joint primitive in the system.
To compute the state of a compiled multibody system, use the
Status property shows whether the state is valid. If the state is not
Status property shows what type of problem occurred.
You can only use a
State object with the
simscape.multibody.CompiledMultibody object that was used to create the
State object. Attempting to pass a
State object to a
method of a different
CompiledMultibody object generates an error.
For information on class attributes, see Class Attributes.
To create the
simscape.multibody.State object of a compiled multibody
system, use the
Status — State status
State status, returned as a member of the
simscape.multibody.StateStatus class. The status indicates the
high-level result of attempt at computing the state of a compiled multibody
simscape.multibody.StateStatus.Valid: All kinematic constraints of the multibody system are satisfied. Note that a valid status does not indicate that all the specified targets have been met.
simscape.multibody.StateStatus.PositionViolation: Not all position constraints of the multibody system are satisfied.
simscape.multibody.StateStatus.VelocityViolation: All position constraints are satisfied, but at least one velocity constraint is not satisfied.
simscape.multibody.StateStatus.SingularityViolation: All kinematic constraints of the multibody system are satisfied, but at least one joint primitive is in kinematic singularity.
To see the status of individual targets, enter the
state object at
the command line without a trailing semicolon.
Introduced in R2022a