AbsolutePosition
Measure absolute position and orientation of the origin of frame connector
Library
PlanarMechanics/Sensors
Description
The absolute position and angle vector [x y φ]of the origin of frame_a is determined and provided at the output signalconnector r.
Via parameter resolveInFrame it is defined, in which framethe position vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameA.world | world frame |
| Types.ResolveInFrameA.frame_a | frame_a |
| Types.ResolveInFrameA.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve,the conditional connector frame_resolve is enabledand r is resolved in the frame, to whichframe_resolve is connected.Note, if this connector is enabled, it must be connected.
Example: If resolveInFrame = Types.ResolveInFrameA.frame_resolve,the output vector is computed as:
![r =transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0, 0, 1]) * [frame_a.x;frame_a.y;frame_a.phi] - [0;0;frame_resolve.phi]](../../../_mo/_mla/PlanarMechanics4.0.0/HTML/Sensors/../../Resources/Images/equations/equation-dcUlfcwL.png)
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector r shall be resolved (1: world, 2: frame_a, 3:frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world | Number | 0 | |
mo_resolveInFrame/choice2 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve | 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 at which the kinematic quantities are measured | input | 1 |
r | implicit | Vector of absolute measurements of frame_a on position level, resolved in frame defined by resolveInFrame | output | 1 |
Port 3 | implicit | Coordinate system in which output vector r is optionally resolved | output | mo_resolveInFrame.choice3 |