Measure relative angular velocity between two frame connectors
The relative angular velocity between frame_a and frame_b is determined and provided at the output signal connector w_rel.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
|world||Resolve vector in world frame|
|frame_a||Resolve vector in frame_a|
|frame_b||Resolve vector in frame_b|
|frame_resolve||Resolve vector in frame_resolve|
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and w_rel 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.ResolveInFrameAB.frame_a, the output vector is computed as:
// Relative orientation object from frame_a to frame_b R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R); // Angular velocity resolved in frame_a w_rel = MultiBody.Frames.angularVelocity1(R_rel);
|frame_a||Frame_a||Coordinate system a|
|frame_b||Frame_b||Coordinate system b|
|w_rel||RealOutput||Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame|
|frame_resolve||Frame_resolve||Coordinate system in which w_rel is optionally resolved|
|resolveInFrame||ResolveInFrameAB||Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a||Frame in which output vector w_rel shall be resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)|
|Modelica.Mechanics.MultiBody.Sensors.RelativeSensorMeasure relative kinematic quantities between two frame connectors|