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:
resolveInFrame =
Types.ResolveInFrameAB. | Meaning |
|---|
| 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);
CONNECTORS
