.Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativeAngularVelocity

Information

This basic sensor is aimed to be used within advanced sensors where the relative angular velocity between frame_a and frame_b should be determined. This vector is provided at the output signal connector w_rel.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the vector w_rel is resolved in the frame to which frame_resolve is connected.

Example

If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

// Relative orientation object from frame_a to frame_b
R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R);

// Angular velocity resolved in frame_a
w_rel = MultiBody.Frames.angularVelocity1(R_rel);