| Name | Type | Default Value | Description |
|---|
| animation | Boolean | true | = true, if animation shall be enabled (show cylinder and sphere) |
| r_CM | Position[3] | | Vector from frame_a to center of mass, resolved in frame_a |
| m | Mass | 1 | Mass of rigid body |
| I_11 | Inertia | 0 | (1,1) element of inertia tensor |
| I_22 | Inertia | 0 | (2,2) element of inertia tensor |
| I_33 | Inertia | 0 | (3,3) element of inertia tensor |
| I_21 | Inertia | 0 | (2,1) element of inertia tensor |
| I_31 | Inertia | 0 | (3,1) element of inertia tensor |
| I_32 | Inertia | 0 | (3,2) element of inertia tensor |
| angles_fixed | Boolean | false | = true, if angles_start are used as initial values, else as guess values |
| angles_start | Angle[3] | {0,0,0} | Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b |
| sequence_start | RotationSequence | {1,2,3} | Sequence of rotations to rotate frame_a into frame_b at initial time |
| w_0_fixed | Boolean | false | = true, if w_0_start are used as initial values, else as guess values |
| w_0_start | AngularVelocity[3] | {0,0,0} | Initial or guess values of angular velocity of frame_a resolved in world frame |
| z_0_fixed | Boolean | false | = true, if z_0_start are used as initial values, else as guess values |
| z_0_start | AngularAcceleration[3] | {0,0,0} | Initial values of angular acceleration z_0 = der(w_0) |
| sphereDiameter | Diameter | world.defaultBodyDiameter | Diameter of sphere |
| cylinderDiameter | Diameter | sphereDiameter/Types.Defaults.BodyCylinderDiameterFraction | Diameter of cylinder |
| enforceStates | Boolean | false | = true, if absolute variables of body object shall be used as states (StateSelect.always) |
| useQuaternions | Boolean | true | = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states |
| sequence_angleStates | RotationSequence | {1,2,3} | Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states |
| I | Inertia[3,3] | [I_11,I_21,I_31;I_21,I_22,I_32;I_31,I_32,I_33] | inertia tensor |
| R_start | Orientation | Modelica.Mechanics.MultiBody.Frames.axesRotations(sequence_start, angles_start, zeros(3)) | Orientation object from world frame to frame_a at initial time |
| z_a_start | AngularAcceleration[3] | Frames.resolve2(R_start, z_0_start) | Initial values of angular acceleration z_a = der(w_a), i.e., time derivative of angular velocity resolved in frame_a |
| Q_start | Orientation | Frames.to_Q(R_start) | Quaternion orientation object from world frame to frame_a at initial time |
| phi_start | Angle[3] | if sequence_start[1] == sequence_angleStates[1] and sequence_start[2] == sequence_angleStates[2] and sequence_start[3] == sequence_angleStates[3] then angles_start else Frames.axesRotationsAngles(R_start, sequence_angleStates) | Potential angle states at initial time |
CONNECTORS
