InitAngularVelocityInternal model to initialize w_rel_b for Joints.FreeMotionScalarInit |
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Compute relative angular velocity w_rel_b of an orientation object R_b relative to an orientation object R_a, resolved in orientation object R_b, i.e.
w_b_b = w_a_b + w_rel_b,
where
w_b_b ...... absolute angular velocity of frame_b resolved in frame_b, w_a_b ...... absolute angular velocity of frame_a resolved in frame_b, w_rel_b .... relative angular velocity resolved in frame_b.
Inputs (2)
| R_a |
Type: Orientation |
|---|---|
| R_b |
Type: Orientation |
Connectors (1)
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w_rel_b |
Type: RealOutput[3] |
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Components (2)
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R_a |
Type: Orientation |
|---|---|---|
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R_b |
Type: Orientation |
Used in Components (1)
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Modelica.Mechanics.MultiBody.Joints Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states) |