.Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsolutePosition .Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsolutePositionThis 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:
| resolveInFrame = Types.ResolveInFrameA. |
Meaning |
|---|---|
| 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);