AbsolutePosition

Measure absolute position vector of the origin of a frame connector

Diagram

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

The absolute position vector 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 =
Types.ResolveInFrameA.
Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve

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_a, the output vector is computed as:

r = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0);

Parameters (1)

resolveInFrame

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

Type: ResolveInFrameA

Description: Frame in which output vector r shall be resolved (world, frame_a, or frame_resolve)

Connectors (3)

frame_a

Type: Frame_a

Description: Coordinate system a of which the absolute kinematic quantities are measured

r

Type: RealOutput[3]

Description: Absolute position vector resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which output vector r is optionally resolved

Components (2)

position

Type: BasicAbsolutePosition

zeroPosition

Type: ZeroPosition

Used in Components (1)

AbsoluteSensor

Modelica.Mechanics.MultiBody.Sensors

Measure absolute kinematic quantities of frame connector