SetTime[t]

t: a name representing the MAMBO time variable

The function SetTime declares the MAmbo time variable for later use. Indeed, the DiffTime, LinearVelocity, AngularVelocity, LinearMomentum, and AngularMomentum procedures assume that the time variable has been declared this way. Any expressions with explicit time-dependence require the use of this command.

Examples

Restart;
DeclareObservers[A,B,C];
DeclarePoints[A,B,C];
DeclareTriads[a,b,c];
DefineObservers[{A,A,a},{B,B,b},{C,C,c}];
DefinePoints[{A,B,a,Cos[s],p1,p2},{B,C,c,r-s,0,1}];
DefineTriads[{a,b,theta,1},{a,c,{s-Pi/2,1},{Pi/2,2}}];
DefineNeighbors[{A,B},{B,C}]
SetTime[wrist];
MotionOutput["states"->{theta->0},"parameters"->{s->1,p1->1,p2->2}, 
  "anims"->{r->s^2*p1-Cos[p2*wrist]},"checksings","checkargs"];

states theta=0;
parameters s=1,p1=1,p2=2;
time wrist;
anims {
   r=-cos(p2*wrist)+p1*(s*s);
}

Restart;
DeclareStates[q1];
DiffTime[q1*Sin[t]]

$\mathrm{Sin}\left[t\right]{\mathrm{q1}}^{\prime }$

SetTime[t];
DiffTime[q1*Sin[t]]

$\mathrm{q1}\mathrm{Cos}\left[t\right]+\mathrm{Sin}\left[t\right]{\mathrm{q1}}^{\prime }$

DeclareStates, MotionOutput, DiffTime, LinearVelocity, AngularVelocity, LinearMomentum, AngularMomentum