AbsoluteAngularVelocity
Measure absolute angular velocity of frame connector
Library
Modelica/Mechanics/MultiBody/Sensors
Description
The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_resolve | Resolve vector in frame_resolve |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_w | w | w | Structure | |
mo_w/fixed | fixed | Cell of vectors of size 3 | true | |
mo_w/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a of which the absolute kinematic quantities are measured | input | 1 |
w | implicit | Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame | output | 1 |
Port 3 | implicit | Coordinate system in which w is optionally resolved | output | mo_resolveInFrame.choice3 |