.ModelicaAdditions.MultiBody.Sensors.LineSensor

Information

The distance as well as the first and second derivative of the
distance between the cut-frames A and B are determined.

Terminal variables:
  s    : The distance between the origin of frame_a and the
         origin of frame_b in [m].
  sd   : The first derivative of s in [m/s].
  sdd  : The second derivative of s in [m/s^2].
  na(3): Unit vector on the line from the origin of frame_a to
         the origin of frame_b, resolved in frame_a.

Parameters:
  sEps: When  sd  and  sdd  are calculated, a division by zero takes
        place, if the distance becomes zero. Therefore, for this
        calculation the modified distance  smod = max(s, sEps)  is used.