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;