CutTorque
Measure cut torque
Library
PlanarMechanics/Sensors
Description
The cut-torque acting between the two frames to which this modelis connected, is determined and provided at the output signalconnector torque (= frame_a.t).If parameter positiveSign = false, the negativecut-torque is provided (= frame_b.t).
In the following figure the modeling and animation of thissensor is shown.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled (show arrow) | Scalar | true |
mo_positiveSign | positiveSign | = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t) | Scalar | true |
mo_Nm_to_m | Nm_to_m | Torque arrow scaling (length = torque/Nm_to_m) | Scalar | |
mo_torqueDiameter | torqueDiameter | Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now) | Scalar | |
mo_torqueColor | torqueColor | Color of torque arrow | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar |
| 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 | 't_in_m' | |
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 | input | 1 |
frame_b | implicit | Coordinate system b | input | 2 |
torque | implicit | Cut torque resolved in frame defined by resolveInFrame | output | 1 |