frameVariables

frameVariables(ks) outputs a table that lists the frame variables currently defined in the KinematicsSolver object ks. Each row of the table shows the ID, base and follower frames, and unit of a frame variable.

Use this function to identify the IDs of frame variables that you want to assign as targets and outputs. Note that you cannot specify the LinearVelocity and AngularVelocity types of frame variables as targets, and you must specify the x and y components of the variable simultaneously when using a Rotation type frame variable as a target.

By default, a newly created KinematicsSolver object does not have any frame variables. To create frame variables, use the addFrameVariables object function. To remove frame variables, use the removeFrameVariables object function to drop frame variables that are no longer needed for the analysis, or use the clearFrameVariables object function to drop all frame variables in one call.