CutTorque

model CutTorque "Measure cut torque vector"
    Modelica.Blocks.Interfaces.RealOutput torque[3] "Cut torque resolved in frame defined by resolveInFrame"
        annotation (Placement(transformation(
            origin = {-80, -110},
            extent = {
                {10, -10}, 
                {-10, 10}},
            rotation = 90)));
    parameter Boolean animation = true "= true, if animation shall be enabled (show arrow)";
    parameter Boolean positiveSign = true "= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)";
    input Real Nm_to_m(unit = "N.m/m") = 1000 "Torque arrow scaling (length = torque/Nm_to_m)"
        annotation (Dialog(
            group = "if animation = true",
            enable = animation));
    input SI.Diameter torqueDiameter = world.defaultArrowDiameter "Diameter of torque arrow"
        annotation (Dialog(
            group = "if animation = true",
            enable = animation));
    input Types.Color torqueColor = Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor "Color of torque arrow"
        annotation (Dialog(
            colorSelector = true,
            group = "if animation = true",
            enable = animation));
    input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient "Reflection of ambient light (= 0: light is completely absorbed)"
        annotation (Dialog(
            group = "if animation = true",
            enable = animation));

    extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor;

protected
    SI.Position t_in_m[3] = frame_a.t * (if positiveSign then 1 else -1) / Nm_to_m "Torque mapped from Nm to m for animation";
    Visualizers.Advanced.DoubleArrow torqueArrow(diameter = torqueDiameter, color = torqueColor, specularCoefficient = specularCoefficient, R = frame_b.R, r = frame_b.r_0, r_tail = t_in_m, r_head = -t_in_m) if world.enableAnimation and animation;
    Internal.BasicCutTorque cutTorque(resolveInFrame = resolveInFrame, positiveSign = positiveSign) annotation (Placement(transformation(extent = {
        {-62, -10}, 
        {-42, 10}})));
    Modelica.Mechanics.MultiBody.Interfaces.ZeroPosition zeroPosition if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve annotation (Placement(transformation(extent = {
        {-20, -40}, 
        {0, -20}})));
equation
    connect(cutTorque.frame_a,frame_a) annotation (Line(
        points = {
            {-62, 0}, 
            {-100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(cutTorque.frame_b,frame_b) annotation (Line(
        points = {
            {-42, 0}, 
            {100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(cutTorque.torque,torque) annotation (Line(
        points = {
            {-60, -11}, 
            {-60, -80}, 
            {-80, -80}, 
            {-80, -110}},
        color = {0, 0, 127}));
    connect(cutTorque.frame_resolve,frame_resolve) annotation (Line(
        points = {
            {-44, -10}, 
            {-44, -74}, 
            {80, -74}, 
            {80, -100}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));
    connect(zeroPosition.frame_resolve,cutTorque.frame_resolve) annotation (Line(
        points = {
            {-20, -30}, 
            {-44, -30}, 
            {-44, -10}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));

    annotation (
        Icon(
            coordinateSystem(
                preserveAspectRatio = true,
                extent = {
                    {-100, -100}, 
                    {100, 100}}),
            graphics = {
                Text(
                    extent = {
                        {-180, -72}, 
                        {-64, -98}},
                    textString = "torque"), 
                Line(
                    points = {
                        {-80, -100}, 
                        {-80, 0}},
                    color = {0, 0, 127})}),
        Documentation(info = "<html>\n<p>\nThe cut-torque acting between the two frames to which this\nmodel is connected, is determined and provided at the output signal connector\n<strong>torque</strong> (= frame_a.t). If parameter <strong>positiveSign</strong> =\n<strong>false</strong>, the negative cut-torque is provided (= frame_b.t).\n</p>\n\n<p>\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame\nthe torque 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.ResolveInFrameAB.frame_resolve, the conditional connector\n\"frame_resolve\" is enabled and output torque 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<p>\nIn the following figure the animation of a CutTorque\nsensor is shown. The dark blue coordinate system is frame_b,\nand the green arrow is the cut torque acting at frame_b and\nwith negative sign at frame_a.\n</p>\n\n<p>\n<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Sensors/CutTorque.png\">\n</p>\n</html>"));
end CutTorque;