# addInitialGuessVariables

Assign kinematic variables from KinematicsSolver object as guesses

## Description

`addInitialGuessVariables(`

assigns the kinematic variables, `ks`

,`ids`

)`ids`

, of the `KinematicsSolver`

object,
`ks`

, as initial guesses.

The output of the `addInitialGuessVariables`

object function is a
table that lists the variables that have been assigned as guesses. Each row lists the
details of a variable, such as the ID, joint type, block path, and unit.

You can assign only joint variables as initial guesses. When assigning joint variables, note that:

Since R2022a, you cannot specify the frame variables of the

`KinematicsSolver`

as initial guesses.You must assign the four joint position variables of a spherical primitive as initial guesses simultaneously.

You must assign the three joint velocity variables of a spherical primitive as initial guesses simultaneously.

You cannot assign the joint position variable for the azimuth angle of a constant velocity primitive as a guess unless you also assign the corresponding bend angle.

You cannot assign the joint velocity variable for the azimuth velocity of a constant velocity primitive as a guess unless you also assign the corresponding bend angle velocity.

The solver uses the guess variables as initial conditions for the search to find a solution that satisfies the targets. When multiple solutions exist, the initial guess variables can help bias the solver to converge on the desired solution. Guess variables are optional but important solver guides in some kinematics problems.

## Input Arguments

## Version History

**Introduced in R2019a**