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WOLFRAM SYSTEM MODELER

RelativePosition

Measure relative position and orientation between the origins of two frame connectors

Diagram

Wolfram Language

In[1]:=

SystemModel["PlanarMechanics.Sensors.RelativePosition"]

Out[1]:=

Information

The relative position and angle vector [x y φ] between the origins of frame_a and of 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.

Options of parameter **resolveInFrame**
resolveInFrame = …	Output vector resolved in
Types.ResolveInFrameAB.world	world frame
Types.ResolveInFrameAB.frame_a	frame_a
Types.ResolveInFrameAB.frame_b	frame_b
Types.ResolveInFrameAB.frame_resolve	frame_resolve (must be connected)

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_resolve, the output vector is computed as:

r_rel = transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0,0,1]) * [frame_b.x - frame_a.x;frame_b.y - frame_a.y;frame_b.phi - frame_a.phi]

Parameters (1)

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a Type: ResolveInFrameAB Description: Frame in which output vector r_rel shall be resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

resolveInFrame

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

Type: ResolveInFrameAB

Description: Frame in which output vector r_rel shall be resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors (4)

	frame_a	Type: Frame_a Description: Coordinate system a
	frame_b	Type: Frame_b Description: Coordinate system b
	r_rel	Type: RealOutput[3] Description: Vector of relative measurements from frame_a to frame_b on position level, resolved in frame defined by resolveInFrame
	frame_resolve	Type: Frame_resolve Description: Coordinate system in which r_rel is optionally resolved

Components (2)

	relativePosition	Type: BasicRelativePosition Description: Measure relative position and orientation (same as Sensors.RelativePosition, but frame_resolve is not conditional and must be connected)
	zeroPosition	Type: ZeroPosition Description: Set zero position vector and orientation object of frame_resolve