Information

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

The relative position vector between the origins of frame_a and frame_b are determined and 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

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and r_rel 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.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);

Parameters (1)

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

resolveInFrame

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

Type: ResolveInFrameAB

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

Connectors (4)

	frame_a	Type: Frame_a Description: Coordinate system a
	frame_b	Type: Frame_b Description: Coordinate system b
	r_rel	Type: RealOutput[3] Description: Relative position vector resolved in frame defined by resolveInFrame
	frame_resolve	Type: Frame_resolve Description: Coordinate system in which r_rel is optionally resolved

Components (2)

	relativePosition	Type: BasicRelativePosition
	zeroPosition	Type: ZeroPosition

Used in Components (6)