Measure absolute velocity vector of origin of frame connector
The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.
Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved:
|world||Resolve vector in world frame|
|frame_a||Resolve vector in frame_a|
|frame_resolve||Resolve vector in frame_resolve|
If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and v is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
Example: If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
v0 = der(frame_a.r_0); v = MultiBody.Frames.resolve2(frame_a.R, v0);
|frame_a||Frame_a||Coordinate system at which the kinematic quantities are measured|
|v||RealOutput||Absolute velocity vector resolved in frame defined by resolveInFrame|
|frame_resolve||Frame_resolve||Coordinate system in which output vector v is optionally resolved|
|resolveInFrame||ResolveInFrameA||Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a||Frame in which output vector v shall be resolved (1: world, 2: frame_a, 3: frame_resolve)|
|Modelica.Mechanics.MultiBody.Sensors.AbsoluteSensorMeasure absolute kinematic quantities of frame connector|