BasicTransformAbsoluteVector
Transform absolute vector into another frame
Library
Modelica/Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor transforms an absolute vector r_in, resolved in frame defined by frame_r_in, into another frame specified by frame_r_out. This output vector is provided at the output signal connector r_out.
Via parameters frame_r_in and frame_r_out it is defined in which frame the position 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 |
In this basic sensor model, the connector frame_resolve is always enabled and must be connected.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_frame_r_in | frame_r_in | Frame in which vector r_in is resolved (world, frame_a, or frame_resolve) | Structure | |
mo_frame_r_in/choice1 | Resolve in world frame | Number | 0 | |
mo_frame_r_in/choice2 | Resolve in frame_a | Number | 0 | |
mo_frame_r_in/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 | |
mo_frame_r_out | frame_r_out | Frame in which vector r_out (= r_in in other frame) is resolved (world, frame_a, or frame_resolve) | Structure | |
mo_frame_r_out/choice1 | Resolve in world frame | Number | 0 | |
mo_frame_r_out/choice2 | Resolve in frame_a | Number | 0 | |
mo_frame_r_out/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_r_in | r_in | r_in | Structure | |
mo_r_in/fixed | fixed | Cell of vectors of size 3 | true | |
mo_r_in/start | start | Cell of vectors of size 3 | ||
mo_r_out | r_out | r_out | Structure | |
mo_r_out/fixed | fixed | Cell of vectors of size 3 | true | |
mo_r_out/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system from which absolute kinematic quantities are measured | input | 1 |
frame_resolve | implicit | Coordinate system in which vector is optionally resolved | output | 1 |
r_in | implicit | Input vector resolved in frame defined by frame_r_in | input | 2 |
r_out | implicit | Input vector r_in resolved in frame defined by frame_r_out | output | 2 |