BasicTransformRelativeVector
Transform relative vector into another frame
Library
Modelica/Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor transforms a relative 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 isdefined in which frame the position vector is resolved:
| resolveInFrame = Types.ResolveInFrameAB. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_b | Resolve vector in frame_b |
| frame_resolve | Resolve vector in frame_resolve |
In this basic sensor model, the connector frame_resolveis 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, frame_b, 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_b | Number | 0 | |
mo_frame_r_in/choice4 | 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, frame_b, 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_b | Number | 0 | |
mo_frame_r_out/choice4 | 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 | 'R1' | |
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 (measurement is between frame_a and frame_b) | input | 1 |
frame_b | implicit | Coordinate system b (measurement is between frame_a and frame_b) | output | 1 |
frame_resolve | implicit | Coordinate system in which vector is optionally resolved | output | 2 |
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 | 3 |