Usage
defineLinkage(joint.coor, joint.types, joint.cons, joint.conn = NULL, link.points = NULL, link.assoc = NULL, link.names = NULL, ground.link = NULL, path.connect = NULL, lar.cons = NULL)
Arguments
joint.coor
A matrix of 2D or 3D coordinates that are the joints of a lever or linkage mechanism.
joint.types
A vector of single letters indicating the type of constraints acting on each joint. Supported types are "R", "U", "L" and "P". See Details.
joint.cons
A list or matrix of 3D constraint vectors that correspond to each joint.
joint.conn
A two-column matrix having the same number of rows as joint.coor, specifying the two links that each joint connects.
link.points
A matrix of points associated with one or more of the links in the linkage (optional).
link.assoc
A vector of integers or rownames indicating the link with which each row in points is associated. Required if points is non-NULL but otherwise optional.
link.names
A vector of the link names (optional).
ground.link
A numeric or link name specifying the ground link of the linkage.
path.connect
A list of vectors, each specifying the points to connect (in sequence) with lines when drawing. This parameter is only used when calling the function drawLinkage.
lar.cons
A list specifying long-axis rotation constraints on links with S-joints on each end. This feature will eventually be added into the joint.conn input parameter as network connections.