modelInitAngularVelocity
Internal model to initialize w_rel_b for Joints.FreeMotionScalarInit
Extends from Modelica.Blocks.Icons.Block (Basic graphical layout of input/output block).
Information
Compute relative angular velocity w_rel_b of an orientation object R_b relative to an orientation object R_a, resolved in orientation object R_b, i.e.
w_b_b = w_a_b + w_rel_b,
where
w_b_b ...... absolute angular velocity of frame_b resolved in frame_b, w_a_b ...... absolute angular velocity of frame_a resolved in frame_b, w_rel_b .... relative angular velocity resolved in frame_b.
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealOutput[3] | w_rel_b |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Frames.Orientation | R_a | ||
| Frames.Orientation | R_b |