KMreset
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 2.1, Creation date: 2015-02-10, Last change: 2025-09-14
set all position frames of a kinematic model to eye(4)
Example Illustration
Syntax
KM=KMreset(KM)
Input Parameter
KM: | | Kinematic model {nx3} |
Output Parameter
KM: | | Kinematic model {nx3} |
Copyright 2015-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Algorithm (Workflow)
This function, KMreset, is designed to reset all position frames of a kinematic model to the identity matrix, eye(4). The function is part of the SG-Library and was created by Tim Lueth on February 10, 2015.
Input Parameters
- KM: A kinematic model represented as a structure with a field
SG. The structure is expected to be of size nx3, where n is the number of segments or components in the kinematic model.
Output Results
- KM: The same kinematic model structure is returned, but with all position frames reset to the identity matrix.
Algorithm Explanation
The function iterates over each segment of the kinematic model, identified by the field SG within the structure KM. For each segment, it sets the corresponding transformation matrix in the field BT to the identity matrix eye(4). This effectively resets the position and orientation of each segment to a default state, where no transformation is applied.
Detailed Steps
- Initialize a loop to iterate over each element in
KM.SG.
- For each iteration, set the corresponding element in
KM.BT to eye(4), which is a 4x4 identity matrix.
- Continue this process until all elements in
KM.SG have been processed.
- Return the modified kinematic model
KM.
Algorithm explaination created using ChatGPT on 2025-08-18 21:46. (Please note: No guarantee for the correctness of this explanation)
Last html export of this page out of FM database by TL: 2025-09-21