.Modelica.Mechanics.MultiBody.Sensors.RelativePosition

Information

The relative position vector between the origins of frame_a and frame_b are determined and provided at the output signal connector r_rel.

Via parameter resolveInFrame it is defined, in which frame the position vector is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and r_rel 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.ResolveInFrameAB.frame_a, the output vector is computed as:

r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);