class FirstExample "A first example"
extends Modelica.Icons.Information;
annotation (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>\nHere seveal steps will be listed to demonstrate how to build up,\nsimulate and animate a <strong>simple pendulum</strong>, which\nconsists of a fixed point, a planar world model,\na revolute joint, a fixed translation and a body.\n</p>\n\n<h4>Building up Modelica composition diagram</h4>\n<p>\nThe diagram is showed as following.\n</p>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/UsersGuide/Tutorial/FirstExample/FirstExample1.png\" alt=\"Modelica diagram\">\n</div>\n<p>\nwhere component <strong>Fixed</strong>, <strong>Body</strong>,\n<strong>FixedTranslation </strong>can be found in\n<a href=\"modelica://PlanarMechanics.Parts\">Parts</a>\npackage, component <strong>Revolute</strong> in\n<a href=\"modelica://PlanarMechanics.Joints\">Joints</a>,\n<strong>PlanarWorld</strong> directly under PlanarMechanics.\n</p>\n<p>\nEvery model having components from PlanarMechanics library must include\nan instance of component PlanarWorld on the highest level. The reason is\nthat PlanarWorld component defines the default gravity for the model,\nincludes default settings of animation parameters of almost every components.\n</p>\n\n<h4>Setting up initial values and parameters.</h4>\n<p>\nIn this step, we only need to double click the relevant component and\nwrite initial values and parameters in the blanks. Default gravity\nforce in is {0, -9.81}. In this example, <code>phi.start</code>\nin <code>revolute</code> component is set to be 50°,\n<code>m</code> and <code>I</code> in <code>body</code> are\nrespectively 1 kg and 0.1 kgm<sup>2</sup>; all other\nsettings remain default.\n</p>\n\n<h4>Translating and simulating the simple pendulum model.</h4>\n<p>\nWith the above settings, animation is as following:\n</p>\n<div>\n<img src=\"modelica://PlanarMechanics/Resources/Images/UsersGuide/Tutorial/FirstExample/FirstExample2.png\" alt=\"First example animation\">\n</div>\n</html>"));
end FirstExample;