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Reference for maple version: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.
Calling Sequence
GeometryOutput(main=W,options)
Parameters
W: name of declared observer
options: optional arguments for error checking and automatic spooling to output file
Description
The function GeometryOutput generates a MAMBO geometry description corresponding to a connected components of the MAMBO toolbox geometry based at the observer W.
The optional arguments passed to GeometryOutput allow the user to spool the output directly to a file; to check that the resulting MAMBO geometry description is syntactically correct; and to check that the resulting MAMBO geometry description contains nothing but numbers, MAMBO parameters, MAMBO animated variables, and MAMBO state variables.
filename=String
- specifies the name (and path) of the output file in the Maple string
String.
checktree
- aborts the generation of a MAMBO geometry description if the reference point or reference triad of some observer have not been defined.
checkargs
- aborts the generation of a MAMBO geometry description if any algebraic symbol in the geometry description has not been declared as a MAMBO parameter, a MAMBO animated variable, a MAMBO state variable, or the MAMBO time variable using any of the following optional arguments.
states=statelist
- where
statelist is a Maple list of equalities with left-hand sides given by the names of MAMBO state variables and right-hand sides given by their initial values. In the absence of an equal sign and a right-hand side, the initial value is assumed to equal 0.
parameters=parlist
- where
parlist is a Maple list of equalities with left-hand sides given by the names of MAMBO parameters and right-hand sides given by their values. In the absence of an equal sign and a right-hand side, the value is assumed to equal 0.
anims=animlist
- where
animlist is a Maple list of equalities with left-hand sides given by the names of MAMBO animated variables and right-hand sides given by algebraic expressions defining the animated variables.
time=timevar
- where
timevar is an algebraic expression representing the MAMBO time variable. In the absence of this option, the time variable is assumed to be denoted by "t". Indeed, the DiffTime, LinearVelocity, AngularVelocity, LinearMomentum, and AngularMomentum procedures assume that the time variable is denoted by "t".
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,th,1],[a,c,[s-PI/2,1],[PI/2,2]]):
DefineNeighbors([A,B],[B,C]):
GeometryOutput(main=B,states=[th=0],parameters=[PI=3.1416,p1=1,p2=2],
anims=[r=s^2*p1-cos(p2*s)],time=s,checktree,checkargs,
filename="output.geo");
See Also
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