Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.

Via parameter resolveInFrame it is defined, in which frame the angular velocity 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

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example

If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

w = MultiBody.Frames.angularVelocity2(frame_a.R);

Parameters (1)

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve)

Connectors (3)

	frame_a	Type: Frame_a Description: Coordinate system a of which the absolute kinematic quantities are measured
	w	Type: RealOutput[3] Description: Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame
	frame_resolve	Type: Frame_resolve Description: Coordinate system in which w is optionally resolved