This information is part of the Modelica Standard Library maintained by the Modelica Association.
The relative angular velocity between frame_a and frame_b is determined and 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. 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 shall be resolved (world, frame_a, frame_b, or frame_resolve)
Description: Coordinate system a
Description: Coordinate system b
Description: Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame
Description: Coordinate system in which w_rel is optionally resolved
Measure relative kinematic quantities between two frame connectors