functionselectBranch
Determine branch which is closest to initial angle=0
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Length | L | Length of length constraint | |
| Real[3] | e | Unit vector along axis of rotation, resolved in frame_a (= same in frame_b) | |
| SI.Angle | angle_guess | Select the configuration such that at initial time |angle-angle_guess|is minimal (angle=0: frame_a and frame_b coincide) | |
| SI.Position[3] | r_a | Position vector from frame_a to frame_a side of length constraint, resolved in frame_a of revolute joint | |
| SI.Position[3] | r_b | Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of revolute joint |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | positiveBranch | Branch of the initial solution |