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 relative angular velocity between frame_a and frame_b should be determined. This vector is provided at the output signal connector w_rel.
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_b||Resolve vector in frame_b|
|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.ResolveInFrameAB.frame_resolve, the vector w_rel is resolved in the frame to which frame_resolve is connected.
If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:
// Relative orientation object from frame_a to frame_b R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R); // Angular velocity resolved in frame_a w_rel = MultiBody.Frames.angularVelocity1(R_rel);
Description: Frame in which output vector w_rel is resolved (world, frame_a, frame_b, or frame_resolve)
Description: Coordinate system a (measurement is between frame_a and frame_b)
Description: Coordinate system b (measurement is between frame_a and frame_b)
Description: Coordinate system in which vector is optionally resolved
Description: Relative angular velocity vector
Description: Relative orientation object from frame_a to frame_b
Measure relative angular velocity between two frame connectors