WOLFRAM SYSTEM MODELER
RotationFixed translation followed by a rotation of frame_b with respect to frame_a. This component rotates frame_a around an angle with a fixed axis. |
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Wolfram Language
In[1]:=
SystemModel["DocumentationExamples.Control.BallAndBeam.Rotation"]
Out[1]:=
Information
Component for a fixed translation and a rotation of frame_b with respect to frame_a. This is a planar rotation along axis 'n' (that is fixed and resolved in frame_a) with an angle 'angle'.
By default, this component is visualized by a cylinder connecting frame_a and frame_b. Note that the two visualized frames are not part of the component animation and that the animation may be switched off via parameter animation = false.
Parameters (11)
| animation |
Value: true Type: Boolean Description: = true, if animation shall be enabled |
|---|---|
| r |
Value: {0, 0, 0} Type: Position[3] (m) Description: Vector from frame_a to frame_b resolved in frame_a |
| n |
Value: {1, 0, 0} Type: Axis Description: Axis of rotation in frame_a (= same as in frame_b) |
| shapeType |
Value: "cylinder" Type: ShapeType Description: Type of shape |
| r_shape |
Value: {0, 0, 0} Type: Position[3] (m) Description: Vector from frame_a to shape origin, resolved in frame_a |
| lengthDirection |
Value: Modelica.Units.Conversions.to_unit1(r - r_shape) Type: Axis Description: Vector in length direction of shape, resolved in frame_a |
| widthDirection |
Value: {0, 1, 0} Type: Axis Description: Vector in width direction of shape, resolved in frame_a |
| length |
Value: Modelica.Math.Vectors.length(r - r_shape) Type: Length (m) Description: Length of shape |
| width |
Value: length / world.defaultWidthFraction Type: Distance (m) Description: Width of shape |
| height |
Value: width Type: Distance (m) Description: Height of shape |
| extra |
Value: 0 Type: ShapeExtra Description: Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape) |
Inputs (3)
| angle |
Type: Angle (rad) Description: Angle to rotate frame_a around axis n into frame_b |
|---|---|
| color |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.RodColor Type: Color Description: Color of shape |
| specularCoefficient |
Default Value: world.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
Connectors (2)
Components (4)
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R_rel |
Type: Orientation Description: Fixed rotation object from frame_a to frame_b |
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world |
Type: World Description: World coordinate system + gravity field + default animation definition |
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R_rel_inv |
Type: Orientation Description: Inverse of R_rel (rotate from frame_b to frame_a) |
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shape |
Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer) |
Used in Examples (1)
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DocumentationExamples.Control Simple model of a ball on a beam, rolling without slipping |