model RelativeAngularVelocity "Measure relative angular velocity between two frame connectors"
extends Internal.PartialRelativeSensor;
Blocks.Interfaces.RealOutput w_rel[3](each final quantity = "AngularVelocity", each final unit = "rad/s") "Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(
extent = {
{-10, -10},
{10, 10}},
rotation = -90,
origin = {0, -110})));
Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve if resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve "Coordinate system in which w_rel is optionally resolved"
annotation (Placement(transformation(extent = {
{84, 64},
{116, 96}})));
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a "Frame in which output vector w_rel shall be resolved (world, frame_a, frame_b, or frame_resolve)";
protected
Internal.BasicRelativeAngularVelocity relativeAngularVelocity(resolveInFrame = resolveInFrame) annotation (Placement(transformation(extent = {
{-10, -10},
{10, 10}})));
Modelica.Mechanics.MultiBody.Interfaces.ZeroPosition zeroPosition if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_resolve annotation (Placement(transformation(extent = {
{52, 20},
{72, 40}})));
equation
connect(zeroPosition.frame_resolve,relativeAngularVelocity.frame_resolve) annotation (Line(
points = {
{52, 30},
{30, 30},
{30, 8},
{10, 8}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(relativeAngularVelocity.frame_a,frame_a) annotation (Line(
points = {
{-10, 0},
{-100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(relativeAngularVelocity.frame_b,frame_b) annotation (Line(
points = {
{10, 0},
{100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(relativeAngularVelocity.w_rel,w_rel) annotation (Line(
points = {
{0, -11},
{0, -110}},
color = {0, 0, 127}));
connect(relativeAngularVelocity.frame_resolve,frame_resolve) annotation (Line(
points = {
{10, 8},
{30, 8},
{30, 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}),
Text(
extent = {
{-127, 95},
{134, 143}},
textString = "%name",
lineColor = {0, 0, 255}),
Text(
extent = {
{14, -78},
{98, -108}},
textString = "w_rel")}),
Documentation(info = "<html>\n<p>\nThe relative angular velocity between frame_a and frame_b is\ndetermined and provided at the output signal connector <strong>w_rel</strong>.\n</p>\n\n<p>\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame\nthe angular velocity is resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>resolveInFrame =<br>Types.ResolveInFrameAB.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n <td>Resolve vector in world frame</td></tr>\n\n<tr><td>frame_a</td>\n <td>Resolve vector in frame_a</td></tr>\n\n<tr><td>frame_b</td>\n <td>Resolve vector in frame_b</td></tr>\n\n<tr><td>frame_resolve</td>\n <td>Resolve vector in frame_resolve</td></tr>\n</table>\n\n<p>\nIn this basic sensor model, <strong>the connector frame_resolve\nis always enabled</strong>.\nIf resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector w_rel is\nresolved in the frame to which frame_resolve is connected.\n</p>\n\n<h4>Example</h4>\n<p>\nIf resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is\ncomputed as:\n</p>\n\n<blockquote><pre>\n// Relative orientation object from frame_a to frame_b\nR_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R);\n\n// Angular velocity resolved in frame_a\nw_rel = MultiBody.Frames.angularVelocity1(R_rel);\n</pre></blockquote>\n</html>"));
end RelativeAngularVelocity;