WOLFRAM SYSTEM MODELER
AbsolutePositionMeasure absolute position and orientation of the origin of frame connector |
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Diagram
Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.Sensors.AbsolutePosition"]
Out[1]:=
Information
The absolute position and angle vector [x y φ]
of the origin of frame_a is determined and provided at the output signal
connector r.
Via parameter resolveInFrame it is defined, in which frame
the position vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameA.world | world frame |
| Types.ResolveInFrameA.frame_a | frame_a |
| Types.ResolveInFrameA.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve,
the conditional connector frame_resolve is enabled
and r 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.ResolveInFrameA.frame_resolve,
the output vector is computed as:
![r =transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0, 0, 1]) * [frame_a.x;frame_a.y;frame_a.phi] - [0;0;frame_resolve.phi]](resources/PlanarMechanics.Sensors.AbsolutePosition_info_001.png)
Parameters (1)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector r shall be resolved (1: world, 2: frame_a, 3:frame_resolve) |
|---|
Connectors (3)
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frame_a |
Type: Frame_a Description: Coordinate system at which the kinematic quantities are measured |
|---|---|---|
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r |
Type: RealOutput[3] Description: Vector of absolute measurements of frame_a on position level, resolved in frame defined by resolveInFrame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which output vector r is optionally resolved |
Components (2)
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position |
Type: BasicAbsolutePosition Description: Measure absolute position and orientation (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected) |
|---|---|---|
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zeroPosition |
Type: ZeroPosition Description: Set zero position vector and orientation object of frame_resolve |
Used in Examples (1)
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PlanarMechanics.Examples Measure demo |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control