Information

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

This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is provided at the output signal connector w.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

resolveInFrame = Types.ResolveInFrameA.	Meaning
world	Resolve vector in world frame
frame_a	Resolve vector in frame_a
frame_resolve	Resolve vector in frame_resolve

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

w = MultiBody.Frames.angularVelocity2(frame_a.R);

Parameters (1)

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector w is resolved (world, frame_a, or frame_resolve)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector w is resolved (world, frame_a, or frame_resolve)

Connectors (3)

	frame_a	Type: Frame_a Description: Coordinate system from which kinematic quantities are measured
	frame_resolve	Type: Frame_resolve Description: Coordinate system in which output vector(s) is optionally resolved
	w	Type: RealOutput[3] Description: Absolute angular velocity vector