The 3 signals of the torque connector are interpreted
as the x-, y- and z-coordinates of a torque acting at the frame
connector to which frame_b of this component is attached.
Via parameter resolveInFrame it is defined, in which frame these
coordinates shall be resolved:
| Types.ResolveInFrameAB. | Meaning |
|---|
| world |
Resolve input torque in world frame |
| frame_a |
Resolve input torque in frame_a |
| frame_b |
Resolve input torque in frame_b (= default) |
| frame_resolve |
Resolve input torque in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates
are with respect to the frame, that is connected to frame_resolve.
If resolveInFrame is not ResolveInFrameAB.frame_resolve, then the position
vector and the orientation object of frame_resolve must be set to constant
values from the outside in order that the model remains balanced
(these constant values are ignored).
CONNECTORS
