.Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque .Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorqueThe 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a torque acting at the frame connector to which this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:
| Types.ResolveInFrameB. | Meaning |
|---|---|
| world | Resolve input torque in world frame (= default) |
| frame_b | Resolve input torque in frame_b |
| frame_resolve | Resolve input torque in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.
If resolveInFrame is not Types.ResolveInFrameB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).