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:
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 v 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:
v0 = der(frame_a.r_0); v = MultiBody.Frames.resolve2(frame_a.R, v0);