BasicTorque

model BasicTorque "Torque acting between two frames, defined by 3 input signals"
    import Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB;

    extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;

    Interfaces.Frame_resolve frame_resolve "The input signals are optionally resolved in this frame"
        annotation (Placement(transformation(
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            extent = {
                {-16, -16}, 
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            rotation = 90)));
    Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity = "Torque", each final unit = "N.m") "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
        annotation (Placement(transformation(
            origin = {-60, 120},
            extent = {
                {-20, -20}, 
                {20, 20}},
            rotation = 270)));
    parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b "Frame in which torque is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
    SI.Position r_0[3] "Position vector from origin of frame_a to origin of frame_b resolved in world frame";
    SI.Torque t_b_0[3] "frame_b.t resolved in world frame";
equation
    if resolveInFrame == ResolveInFrameAB.frame_a then 
        t_b_0 = -Frames.resolve1(frame_a.R, torque);
        frame_b.t = Frames.resolve2(frame_b.R, t_b_0);
    elseif resolveInFrame == ResolveInFrameAB.frame_b then 
        t_b_0 = -Frames.resolve1(frame_b.R, torque);
        frame_b.t = -torque;
    elseif resolveInFrame == ResolveInFrameAB.world then 
        t_b_0 = -torque;
        frame_b.t = Frames.resolve2(frame_b.R, t_b_0);
    elseif resolveInFrame == ResolveInFrameAB.frame_resolve then 
        t_b_0 = -Frames.resolve1(frame_resolve.R, torque);
        frame_b.t = Frames.resolve2(frame_b.R, t_b_0);
    else 
        assert(false, "Wrong value for parameter resolveInFrame");
        t_b_0 = zeros(3);
        frame_b.t = zeros(3);
    end if;
    assert(0 < cardinality(frame_resolve), "Connector frame_resolve must be connected at least once and frame_resolve.r_0/.R must be set");
    r_0 = frame_b.r_0 - frame_a.r_0;
    frame_a.f = zeros(3);
    frame_b.f = zeros(3);
    frame_resolve.f = zeros(3);
    frame_resolve.t = zeros(3);
    zeros(3) = frame_a.t + Frames.resolve2(frame_a.R, t_b_0);

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        Documentation(info = "<html>\n<p>\nThe <strong>3</strong> signals of the <strong>torque</strong> connector are interpreted\nas the x-, y- and z-coordinates of a <strong>torque</strong> acting at the frame\nconnector to which frame_b of this component is attached.\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame these\ncoordinates shall be resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>Types.ResolveInFrameAB.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n    <td>Resolve input torque in world frame</td></tr>\n\n<tr><td>frame_a</td>\n    <td>Resolve input torque in frame_a</td></tr>\n\n<tr><td>frame_b</td>\n    <td>Resolve input torque in frame_b (= default)</td></tr>\n\n<tr><td>frame_resolve</td>\n    <td>Resolve input torque in frame_resolve (frame_resolve must be connected)</td></tr>\n</table>\n\n<p>\nIf resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates\nare with respect to the frame, that is connected to <strong>frame_resolve</strong>.\n</p>\n\n<p>\nIf resolveInFrame is not ResolveInFrameAB.frame_resolve, then the position\nvector and the orientation object of frame_resolve must be set to constant\nvalues from the outside in order that the model remains balanced\n(these constant values are ignored).\n</p>\n</html>"));
end BasicTorque;