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 relative position vector between the origins of frame_a and frame_b should be determined. This vector is provided at the output signal connector r_rel.
Via parameter resolveInFrame it is defined in which frame the position vector is resolved:
|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|
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector r_rel is resolved in the frame to which frame_resolve is connected.
If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:
r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
Description: Frame in which output vector r_rel is resolved (world, frame_a, frame_b, or frame_resolve)
Description: Coordinate system a (measurement is between frame_a and frame_b)
Description: Coordinate system b (measurement is between frame_a and frame_b)
Description: Coordinate system in which vector is optionally resolved
Description: Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame
Measure relative position vector between the origins of two frame connectors