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 position vector of the origin of frame_a should be determined. This vector is provided at the output signal connector r.
Via parameter resolveInFrame it is defined in which frame the position vector 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 r is resolved in the frame to which frame_resolve is connected.
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
r = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0);
Description: Frame in which output vector r is resolved (world, frame_a, or frame_resolve)
Description: Coordinate system from which kinematic quantities are measured
Description: Coordinate system in which output vector(s) is optionally resolved
Description: Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame