This information is part of the Modelica Standard Library maintained by the Modelica Association.

RelativeSensor

Measure relative kinematic quantities between two frame connectors

Information
CONNECTORS
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NameTypeDescription
frame_aFrame_aCoordinate system a
frame_bFrame_bCoordinate system b
frame_resolveFrame_resolveIf resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the output signals are resolved in this frame
r_relRealOutput[3]Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame
v_relRealOutput[3]Relative velocity vector
a_relRealOutput[3]Relative acceleration vector
anglesRealOutput[3]Angles to rotate frame_a into frame_b via 'sequence'
w_relRealOutput[3]Relative angular velocity vector
z_relRealOutput[3]Relative angular acceleration vector
PARAMETERS
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled (show arrow)
resolveInFrameResolveInFrameABModelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_aFrame in which vectors are resolved before differentiation (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)
get_r_relBooleanfalse= true, to measure the relative position vector from the origin of frame_a to frame_b
get_v_relBooleanfalse= true, to measure the relative velocity of the origin of frame_b with respect to frame_a
get_a_relBooleanfalse= true, to measure the relative acceleration of the origin of frame_b with respect to frame_a
get_w_relBooleanfalse= true, to measure the relative angular velocity of frame_b with respect to frame_a
get_z_relBooleanfalse= true, to measure the relative angular acceleration of frame_b with respect to frame_a
get_anglesBooleanfalse= true, to measure the 3 rotation angles
sequenceRotationSequence{1,2,3}If get_angles=true: Angles are returned to rotate frame_a around axes sequence[1], sequence[2] and finally sequence[3] into frame_b
guessAngle1Angle0If get_angles=true: Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum
resolveInFrameAfterDifferentiationResolveInFrameABresolveInFrameFrame in which vectors are resolved after differentiation (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)