modelFixed
Frame fixed in the world frame at a given position
Information
Element consisting of a frame (frame_b) that is fixed in the world frame at a given position defined by parameter vector r (vector from origin of world frame to frame_b, resolved in the world frame).
By default, this component is visualized by a cylinder connecting the world frame and frame_b of this components, as shown in the figure below. Note, that the visualized world frame on the left side and Fixed.frame_b on the right side are not part of the component animation and that the animation may be switched off via parameter animation = false.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | animation | true | = true, if animation shall be enabled |
| SI.Position[3] | r | {0, 0, 0} | Position vector from world frame to frame_b, resolved in world frame |
| Animation › if animation = true | |||
| Types.ShapeType | shapeType | "cylinder" | Type of shape |
| SI.Position[3] | r_shape | {0, 0, 0} | Vector from world frame to shape origin, resolved in world frame |
| Types.Axis | lengthDirection | to_unit1(r - r_shape) | Vector in length direction of shape, resolved in world frame |
| Types.Axis | widthDirection | {0, 1, 0} | Vector in width direction of shape, resolved in world frame |
| SI.Length | length | Modelica.Math.Vectors.length(r - r_shape) | Length of shape |
| SI.Distance | width | length/world.defaultWidthFraction | Width of shape |
| SI.Distance | height | width | Height of shape |
| Types.ShapeExtra | extra | 0.0 | Additional parameter for cone, pipe etc. (see docu of Visualizers.Advanced.Shape) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_b | frame_b | Coordinate system fixed in the world frame |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Types.Color | color | Modelica.Mechanics.MultiBody.Types.Defaults.RodColor | Color of shape |
| Types.SpecularCoefficient | specularCoefficient | world.defaultSpecularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) |