AbsoluteVelocity
Measure absolute velocity vector of origin of frame connector
Library
Modelica/Mechanics/MultiBody/Sensors
Description
The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.
Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_resolve | Resolve vector in frame_resolve |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and v is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
v0 = der(frame_a.r_0); v = MultiBody.Frames.resolve2(frame_a.R, v0);
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector v shall be resolved (world, frame_a, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_v | v | v | Structure | |
mo_v/fixed | fixed | Cell of vectors of size 3 | true | |
mo_v/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a of which the absolute kinematic quantities are measured | input | 1 |
v | implicit | Absolute velocity vector resolved in frame defined by resolveInFrame | output | 1 |
Port 3 | implicit | Coordinate system in which output vector v is optionally resolved | output | mo_resolveInFrame.choice3 |