This information is part of the Modelica Standard Library maintained by the Modelica Association.
This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
|world||Resolve vector in world frame|
|frame_a||Resolve vector in frame_a|
|frame_resolve||Resolve vector in frame_resolve|
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is connected.
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Description: Frame in which output vector w is resolved (world, frame_a, or frame_resolve)
Measure absolute angular velocity of frame connector