The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity 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 w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);