TransformRelativeVector

model TransformRelativeVector "Transform relative vector in to another frame"
    extends Internal.PartialRelativeSensor;

    Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve if frame_r_in == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve or frame_r_out == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve "Coordinate system in which r_in or r_out is optionally resolved"
        annotation (Placement(transformation(extent = {
            {84, 64}, 
            {116, 96}})));
    Blocks.Interfaces.RealInput r_in[3] "Input vector resolved in frame defined by frame_r_in"
        annotation (Placement(transformation(
            extent = {
                {-20, -20}, 
                {20, 20}},
            rotation = -90,
            origin = {0, 120})));
    Blocks.Interfaces.RealOutput r_out[3] "Input vector r_in resolved in frame defined by frame_r_out"
        annotation (Placement(transformation(
            extent = {
                {-10, -10}, 
                {10, 10}},
            rotation = -90,
            origin = {0, -110})));
    parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB frame_r_in = Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a "Frame in which vector r_in is resolved (world, frame_a, frame_b, or frame_resolve)";
    parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB frame_r_out = frame_r_in "Frame in which vector r_in shall be resolved and provided as r_out (world, frame_a, frame_b, or frame_resolve)";
protected
    Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformRelativeVector basicTransformVector(frame_r_in = frame_r_in, frame_r_out = frame_r_out) annotation (Placement(transformation(extent = {
        {-10, -10}, 
        {10, 10}})));
    Modelica.Mechanics.MultiBody.Interfaces.ZeroPosition zeroPosition if not (frame_r_in == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve or frame_r_out == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve) annotation (Placement(transformation(extent = {
        {48, 10}, 
        {68, 30}})));
equation
    connect(zeroPosition.frame_resolve,basicTransformVector.frame_resolve) annotation (Line(
        points = {
            {48, 20}, 
            {32, 20}, 
            {32, 8}, 
            {10, 8}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));
    connect(basicTransformVector.frame_a,frame_a) annotation (Line(
        points = {
            {-10, 0}, 
            {-100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(basicTransformVector.frame_b,frame_b) annotation (Line(
        points = {
            {10, 0}, 
            {100, 0}},
        color = {95, 95, 95},
        thickness = 0.5));
    connect(basicTransformVector.r_in,r_in) annotation (Line(
        points = {
            {0, 12}, 
            {0, 120}},
        color = {0, 0, 127}));
    connect(basicTransformVector.r_out,r_out) annotation (Line(
        points = {
            {0, -11}, 
            {0, -110}},
        color = {0, 0, 127}));
    connect(basicTransformVector.frame_resolve,frame_resolve) annotation (Line(
        points = {
            {10, 8}, 
            {20, 8}, 
            {20, 8}, 
            {32, 8}, 
            {32, 80}, 
            {100, 80}},
        color = {95, 95, 95},
        pattern = LinePattern.Dot));

    annotation (
        Icon(
            coordinateSystem(
                preserveAspectRatio = true,
                extent = {
                    {-100, -100}, 
                    {100, 100}}),
            graphics = {
                Line(
                    points = {
                        {0, -70}, 
                        {0, -100}},
                    color = {0, 0, 127}), 
                Line(
                    points = {
                        {0, 100}, 
                        {0, 70}},
                    color = {0, 0, 127}), 
                Text(
                    extent = {
                        {-104, 124}, 
                        {-18, 96}},
                    textString = "r_in"), 
                Text(
                    extent = {
                        {-124, -76}, 
                        {2, -104}},
                    textString = "r_out"), 
                Text(
                    extent = {
                        {70, 126}, 
                        {200, 100}},
                    lineColor = {95, 95, 95},
                    textString = "resolve")}),
        Documentation(info = "<html>\n<p>\nThe input vector \"Real r_in[3]\" is assumed to be a relative kinematic quantity\nbetween frame_a and frame_b\nthat is defined to be resolved in the frame defined\nwith parameter \"frame_r_in\". This model resolves vector r_in in the\ncoordinate system defined with parameter \"frame_r_out\" and returns the\ntransformed output vector as \"Real r_out[3]\";\n</p>\n</html>"));
end TransformRelativeVector;