AbsoluteAngularVelocity
Measure absolute angular velocity of frame connector
Library
Modelica/Mechanics/MultiBody/Sensors
Description
The absolute angular velocity of frame_a with respect to theworld frame isdetermined and provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which framethe angular velocity 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 w is resolved in the frame, towhich frame_resolve is connected. Note, if this connector is enabled, it mustbe connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector iscomputed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector w 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__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | ||
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a of which the absolute kinematic quantities are measured | input | 1 |
w | implicit | Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame | output | 1 |
Port 3 | implicit | Coordinate system in which w is optionally resolved | output | mo_resolveInFrame.choice3 |