This information is part of the Modelica Standard Library maintained by the Modelica Association.
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.
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);
Description: Frame in which output vector v shall be resolved (world, frame_a, or frame_resolve)
Description: Coordinate system a of which the absolute kinematic quantities are measured
Description: Absolute velocity vector resolved in frame defined by resolveInFrame
Description: Coordinate system in which output vector v is optionally resolved
Measure absolute kinematic quantities of frame connector