WOLFRAM SYSTEM MODELER
BasicRelativePositionBasic sensor to measure relative position vector |
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Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativePosition"]
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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 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:
| resolveInFrame = Types.ResolveInFrameAB. | Meaning |
|---|---|
| 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.
Example
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);
Parameters (1)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a Type: ResolveInFrameAB Description: Frame in which output vector r_rel is resolved (world, frame_a, frame_b, or frame_resolve) |
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Connectors (4)
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frame_a |
Type: Frame_a Description: Coordinate system a (measurement is between frame_a and frame_b) |
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frame_b |
Type: Frame_b Description: Coordinate system b (measurement is between frame_a and frame_b) |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which vector is optionally resolved |
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r_rel |
Type: RealOutput[3] Description: Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Sensors Measure relative position vector between the origins of two frame connectors |