::hwat::utils::PositionLimbs

Positions the dummy's hands or feet to the required position.

Syntax

::hwat::utils::PositionLimbs n_compId n_baseNode n_targetNode n_systemList n_sysCompList n_maxIterations d_tolerance

Arguments

n_compId
The ID of the root component if positive or the root multibody if negative.
n_baseNode
The base node to move on the dummy.
n_targetNode
The target node to move to.
n_systemList
The first list returned by the ::hwat::solver::CreateDummyPositionArray function.
Default = ""
n_sysCompList

The second list returned by the ::hwat::solver::CreateDummyPositionArray function.

Default = ""
n_maxIterations
The maximum number of iterations.
Default = 100.
d_tolerance
The tolerance within which to position the limbs.
Default = 10.0.

Returns

Success
A Tcl list of the form {componentid1 anglelist1 ....}, where componentid is the ID of the component being rotated and anglelist is the list of angles before rotation for that component.
Failure
{}

Example

::hwat::utils::PositionLimbs 12031 13454 21334 {} {} 50 5.  //component
::hwat::utils::PositionLimbs -29 13454 21334 {} {} 50 5.  //multibody