inst/extdata/test_configs/RS(SSL)SR.R

In aaronolsen/linkR: 3D Lever and Linkage Mechanism Modeling

# Define joint coordinates
joint.coor <- rbind(c(0,0,0), c(0,0.5,0), c(1,1.2,0), c(1.3,0,0),
	c(0.4,1.7,0), c(1,1.9,0), c(1,2,0))

# Define joint types
joint.types <- c('R', 'S', 'S', 'R', 'S', 'S', 'L')

# Define joint constraints
joint.cons <- list(c(0,0,1), NA, NA, c(0,0,1), NA, NA, c(1,0,0))

# Define two links connected by each joint
joint.conn <- rbind(c(0,1), c(1,2), c(2,3), c(3,0), c(2,4), c(4,5), c(5,0))

# Define points associated with links
link.points <- rbind(c(0.2,1.1,0), c(0.5,0.85,0))

# Define links with which points are associated
link.assoc <- c(2,2)

# Define linkage
linkage <- defineLinkage(joint.coor=joint.coor, joint.types=joint.types, 
	joint.cons=joint.cons, joint.conn=joint.conn, link.points=link.points, 
	link.assoc=link.assoc)

# Animate linkage
anim <- animateLinkage(linkage, input.param=seq(0,1.4,length=50), input.joint=1)

# Draw linkage
drawLinkage(anim, file='RS(SSL)SR.html', animate.reverse=TRUE)