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

The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

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

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and v 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:

v0 = der(frame_a.r_0);
v  = MultiBody.Frames.resolve2(frame_a.R, v0);

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