InitAngularVelocity
Internal model to initialize w_rel_b for Joints.FreeMotionScalarInit
Library
Modelica/Mechanics/MultiBody/Joints/Internal
Description
Compute relative angular velocity w_rel_b of an orientation object R_b relative to an orientation object R_a, resolved in orientation object R_b, i.e.
w_b_b = w_a_b + w_rel_b,
where
w_b_b ...... absolute angular velocity of frame_b resolved in frame_b, w_a_b ...... absolute angular velocity of frame_a resolved in frame_b, w_rel_b .... relative angular velocity resolved in frame_b.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_R_a | R_a | FromModelica('Modelica.Mechanics.MultiBody.Frames.Orientation') | ||
mo_R_b | R_b | FromModelica('Modelica.Mechanics.MultiBody.Frames.Orientation') |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_w_rel_b | w_rel_b | w_rel_b | Structure | |
mo_w_rel_b/fixed | fixed | Cell of vectors of size 3 | true | |
mo_w_rel_b/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
w_rel_b | implicit | output | 1 |