WOLFRAM SYSTEM MODELER
RelativePositionMeasure relative position vector between the origins of two frame connectors |
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Diagram
Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.RelativePosition"]
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The relative position vector between the origins of frame_a and frame_b are determined and 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 |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and r_rel is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be 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 shall be 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 |
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frame_b |
Type: Frame_b Description: Coordinate system b |
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r_rel |
Type: RealOutput[3] Description: Relative position vector resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which r_rel is optionally resolved |
Components (2)
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relativePosition |
Type: BasicRelativePosition Description: Basic sensor to measure relative position vector |
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zeroPosition |
Type: ZeroPosition Description: Set absolute position vector of frame_resolve to a zero vector and the orientation object to a null rotation |
Used in Components (6)
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Modelica.Mechanics.MultiBody.Joints.Assemblies Universal - spherical - revolute joint aggregation (no constraints, no potential states) |
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Modelica.Mechanics.MultiBody.Joints.Assemblies Universal - spherical - prismatic joint aggregation (no constraints, no potential states) |
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Modelica.Mechanics.MultiBody.Joints.Assemblies Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states) |
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Modelica.Mechanics.MultiBody.Joints.Assemblies Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states) |
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Modelica.Mechanics.MultiBody.Sensors Measure relative kinematic quantities between two frame connectors |
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Modelica.Mechanics.MultiBody.Sensors Measure relative velocity vector between the origins of two frame connectors |