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;