AbsoluteVelocity

model AbsoluteVelocity "Measure absolute velocity vector of origin of frame connector"
    extends Internal.PartialAbsoluteSensor;

    Blocks.Interfaces.RealOutput v[3](each final quantity = "Velocity", each final unit = "m/s") "Absolute velocity vector resolved in frame defined by resolveInFrame"
        annotation (Placement(transformation(
            extent = {
                {-10, -10}, 
                {10, 10}},
            origin = {110, 0})));
    Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve if resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve "Coordinate system in which output vector v is optionally resolved"
        annotation (Placement(transformation(
            extent = {
                {-16, -16}, 
                {16, 16}},
            rotation = -90,
            origin = {0, -100})));
    parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a "Frame in which output vector v shall be resolved (world, frame_a, or frame_resolve)";
protected
    Internal.BasicAbsolutePosition position(resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world) annotation (Placement(transformation(extent = {
        {-60, -10}, 
        {-40, 10}})));
    Blocks.Continuous.Der der1[3] annotation (Placement(transformation(
        extent = {
            {-20, -20}, 
            {0, 0}},
        origin = {10, 10})));
    Modelica.Mechanics.MultiBody.Sensors.TransformAbsoluteVector tansformAbsoluteVector(frame_r_in = Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world, frame_r_out = resolveInFrame) annotation (Placement(transformation(
        extent = {
            {10, -10}, 
            {-10, 10}},
        rotation = 90,
        origin = {50, 0})));
    Modelica.Mechanics.MultiBody.Interfaces.ZeroPosition zeroPosition annotation (Placement(transformation(extent = {
        {-60, -60}, 
        {-80, -40}})));
    Modelica.Mechanics.MultiBody.Interfaces.ZeroPosition zeroPosition1 if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve annotation (Placement(transformation(extent = {
        {60, -60}, 
        {80, -40}})));
equation
    connect(der1.y,tansformAbsoluteVector.r_in) annotation (Line(
        points = {
            {11, 0}, 
            {38, 0}},
        color = {0, 0, 127}));
    connect(position.r,der1.u) annotation (Line(
        points = {
            {-39, 0}, 
            {-12, 0}},
        color = {0, 0, 127}));
    connect(position.frame_a,frame_a) annotation (Line(
        points = {
            {-60, 0}, 
            {-80, 0}, 
            {-80, 0}, 
            {-100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(zeroPosition.frame_resolve,position.frame_resolve) annotation (Line(
        points = {
            {-60, -50}, 
            {-50, -50}, 
            {-50, -10}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));
    connect(tansformAbsoluteVector.frame_a,frame_a) annotation (Line(
        points = {
            {50, 10}, 
            {50, 20}, 
            {-70, 20}, 
            {-70, 0}, 
            {-100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(tansformAbsoluteVector.r_out,v) annotation (Line(
        points = {
            {61, 0}, 
            {110, 0}},
        color = {0, 0, 127}));
    connect(tansformAbsoluteVector.frame_resolve,frame_resolve) annotation (Line(
        points = {
            {49.9, -10}, 
            {50, -10}, 
            {50, -50}, 
            {0, -50}, 
            {0, -100}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));
    connect(tansformAbsoluteVector.frame_resolve,zeroPosition1.frame_resolve) annotation (Line(
        points = {
            {49.9, -10}, 
            {50, -10}, 
            {50, -50}, 
            {60, -50}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));

    annotation (
        Icon(
            coordinateSystem(
                preserveAspectRatio = true,
                extent = {
                    {-100, -100}, 
                    {100, 100}}),
            graphics = {
                Line(
                    points = {
                        {70, 0}, 
                        {100, 0}},
                    color = {0, 0, 127}), 
                Text(
                    extent = {
                        {-130, 72}, 
                        {131, 120}},
                    textString = "%name",
                    lineColor = {0, 0, 255}), 
                Text(
                    extent = {
                        {58, 48}, 
                        {142, 18}},
                    textString = "v"), 
                Text(
                    extent = {
                        {15, -67}, 
                        {146, -92}},
                    lineColor = {95, 95, 95},
                    textString = "resolve"), 
                Line(
                    points = {
                        {0, -70}, 
                        {0, -95}},
                    color = {95, 95, 95},
                    pattern = LinePattern.Dot)}),
        Documentation(info = "<html>\n<p>\nThe absolute velocity vector of the origin of frame_a is\ndetermined and provided at the output signal connector <strong>v</strong>.\n</p>\n\n<p>\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame\nthe velocity vector is resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>resolveInFrame =<br>Types.ResolveInFrameA.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n    <td>Resolve vector in world frame</td></tr>\n\n<tr><td>frame_a</td>\n    <td>Resolve vector in frame_a</td></tr>\n\n<tr><td>frame_resolve</td>\n    <td>Resolve vector in frame_resolve</td></tr>\n</table>\n\n<p>\nIf resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector\n\"frame_resolve\" is enabled and v is resolved in the frame, to\nwhich frame_resolve is connected. Note, if this connector is enabled, it must\nbe connected.\n</p>\n\n<h4>Example</h4>\n<p>\nIf resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is\ncomputed as:\n</p>\n\n<blockquote><pre>\nv0 = der(frame_a.r_0);\nv  = MultiBody.Frames.resolve2(frame_a.R, v0);\n</pre></blockquote>\n</html>"));
end AbsoluteVelocity;