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 position vector between the origins of frame_a and frame_b should be determined. This vector is provided at the output signal connector r_rel.

Via parameter resolveInFrame it is defined in which frame the position vector is resolved:

resolveInFrame = Types.ResolveInFrameAB.	Meaning
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 r_rel is resolved in the frame to which frame_resolve is connected.

Example

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

r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a Type: ResolveInFrameAB Description: Frame in which output vector r_rel is resolved (world, frame_a, frame_b, or frame_resolve)