setVariableUnit

Change physical unit of kinematic variable

Syntax

setVariableUnit(ks,ids,unit)

Description

setVariableUnit(ks,ids,unit) changes the physical unit of the kinematic variable id in the KinematicsSolver object ks to the measure given in unit. That measure must be a valid unit, and the unit must be appropriate for the variable—a length for translation variables and an angle for rotation variables. Rotation axis components, used in spherical joint primitives, must remain unitless.

The new unit applies to every instance of the specified variable: if the variable appears in several variable groups, the unit takes effect in each of the groups.

Input Arguments

ks — Kinematics solver object

KinematicsSolver object

Kinematics solver object, specified as a KinematicsSolver object that is the representation of the Simscape™ Multibody™ model used for kinematic analysis.

Example: ks = simscape.multibody.KinematicsSolver("DoublePendulumExample​'​')

ids — Identifiers of kinematic variables

cell array of characters | string vector

Identifiers of the kinematic variables, specified as either a cell array of characters or string vector. The cell array of character and string vector can be 1-by-N or N-by-1, where N is a positive integer. Use the jointPositionVariables or jointVelocityVariables object function to show the IDs for joint variables. Use the frameVariables object function to show the IDs for frame variables.

Example: "j1.Rz.q", ["j1.Rz.q", "j2.Rz.q"], {'j1.Rz.q'}, or {'j1.Rz.q'; 'j2.Rz.q'};

unit — New unit for specified kinematic variable

string scalar or character vector

New unit for the variable id of the object ks. The unit must be valid and appropriate for the type of variable. Translational variables must be in units of length and rotational variables must be in units of angle.

Example: 'ft'

Data Types: char | string

Version History

Introduced in R2019a