model Fixed "Frame fixed in the planar world frame at a given position and orientation"
parameter SI.Position r[2] = {0, 0} "Fixed absolute x,y-position, resolved in planarWorld frame";
parameter SI.Angle phi = 0 "Fixed angle";
Interfaces.Frame_b frame annotation (Placement(transformation(extent = {
{-116, -16},
{-84, 16}})));
equation
frame.phi = phi;
{frame.x, frame.y} = r;
annotation (
Icon(graphics = {
Line(points = {
{-100, 0},
{0, 0}}),
Line(points = {
{0, 80},
{0, -80}}),
Line(points = {
{0, 40},
{80, 0}}),
Line(points = {
{0, 80},
{80, 40}}),
Line(points = {
{0, 0},
{80, -40}}),
Line(points = {
{0, -40},
{80, -80}}),
Text(
extent = {
{-150, -90},
{150, -120}},
textString = "r=%r"),
Text(
extent = {
{-150, 130},
{150, 90}},
textString = "%name",
textColor = {0, 0, 255})}),
Documentation(
revisions = "<html>\n<p>\n<img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\" alt=\"DLR logo\">\n<strong>Developed 2010 at the DLR Institute of System Dynamics and Control</strong>\n</p>\n</html>",
info = "<html>\n<p>\nThis component defines the x, y-position and angle of the frame connectors,\nto which this component is attached to.\n</p>\n</html>"));
end Fixed;