bodyInfoFromJoint

Import information for given joint name

Since R2018b

Syntax

info = bodyInfo(importInfo,jointName)

Description

info = bodyInfo(importInfo,jointName) returns the import information for a joint in a rigidBodyTree object that is created from calling importrobot. Specify the rigidBodyTreeImportInfo object from the import process.

Input Arguments

importInfo — Robot import information

rigidBodyTreeImportInfo object

Robot import information, specified as a rigidBodyTreeImportInfo object. This object is returned when you use importrobot.

jointName — Name of joint

character vector | string scalar

Name of a joint in the rigidBodyTree object that was created using importrobot, specified as a character vector or string scalar. Partial string matching is accepted and returns a cell array of structures that match the partial string.

Example: 'Joint01'

Data Types: char | string

Output Arguments

info — Import information for specific component

structure | cell array of structures

Import information for specific component, specified as a structure or cell array of structures. This structure contains the information about the imported blocks from Simscape™ Multibody™ and the associated components in the rigidBodyTree object. The fields of each structure are:

• BodyName — Name of the body in the rigidBodyTree object.

• JointName — Name of the joint associated with BodyName.

• BodyBlocks — Blocks used from the Simscape Multibody model.

• JointBlocks — Joint blocks used from the Simscape Multibody model.

Version History

Introduced in R2018b