| Name | Type | Default Value | Description |
|---|
| animation | Boolean | true | = true, if animation shall be enabled (show box between frame_a and frame_b) |
| r | Position[3] | | Vector from frame_a to frame_b resolved in frame_a |
| r_shape | Position[3] | {0,0,0} | Vector from frame_a to box origin, resolved in frame_a |
| lengthDirection | Axis | r - r_shape | Vector in length direction of box, resolved in frame_a |
| widthDirection | Axis | {0,1,0} | Vector in width direction of box, resolved in frame_a |
| length | Length | Modelica.Math.Vectors.length(r - r_shape) | Length of box |
| width | Distance | length/world.defaultWidthFraction | Width of box |
| height | Distance | width | Height of box |
| innerWidth | Distance | 0 | Width of inner box surface (0 <= innerWidth <= width) |
| innerHeight | Distance | innerWidth | Height of inner box surface (0 <= innerHeight <= height) |
| density | Density | 7700 | Density of cylinder (e.g., steel: 7700 .. 7900, wood : 400 .. 800) |
| 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) |
| 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 |
| mo | Mass | density*length*width*height | Mass of box without hole |
| mi | Mass | density*length*innerWidth*innerHeight | Mass of hole of box |
| m | Mass | mo - mi | Mass of box |
| R | Orientation | Frames.from_nxy(r, widthDirection) | Orientation object from frame_a to coordinates system spanned by r and widthDirection |
| r_CM | Position[3] | Modelica.Math.Vectors.normalize(r)*length/2 | Position vector from origin of frame_a to center of mass, resolved in frame_a |
| I | Inertia[3,3] | Frames.resolveDyade1(R, diagonal({mo*(width*width + height*height) - mi*(innerWidth*innerWidth + innerHeight*innerHeight),mo*(length*length + height*height) - mi*(length*length + innerHeight*innerHeight),mo*(length*length + width*width) - mi*(length*length + innerWidth*innerWidth)}/12)) | Inertia tensor of body box with respect to center of mass, parallel to frame_a |
CONNECTORS
