.Modelica.Mechanics.MultiBody.Sensors.AbsoluteVelocity

Information

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:

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);