modelRigidReferencePoint
The reference point of a rigid body. The acceleratoin and velocity are calculated here and passed through the rigid connector to the rest of the rigid body components. Convenience variables (e.g. roll/pitch/heading) are also defined as this is the point of interest for the rigid body.
Parameters
| Type | Name | Default | Description |
|---|
| Boolean | wrapEuler | true | |
| Real | epsilon | 1e-14 | |
Components
| Type | Name | Default | Description |
|---|
| World.WorldBase | world | | the world |
| SI.AngularVelocity[3] | w_ir | {0, 0, 0} | ref frame ang rate wrt inertial expressed in the reference frame |
| SI.Position[3] | r_r | | cartesian position resolved in the refernce frame |
| SI.Velocity[3] | v_r | | velocity resolved in the reference frame |
| SI.Angle[3] | euler | | euler angles, body roll, horizon pitch, heading |
| SI.AngularVelocity[3] | w_ib | | angular velocity of body wrt inertial frame resolved in the body frame |
| SI.Angle[3] | eulerDot | | euler angle rates, body roll, horizon pitch, heading |
| SI.Velocity[3] | v_b | | velocity resolved in the body frame |
| SI.Acceleration[3] | a_b | | acceleration resolved in the body frame |
| SI.AngularAcceleration[3] | z_b | | angular acceleration resolved in the body frame |
| Real[3,3] | C_br | | direction cosine matrix from reference to body frame |
| SI.Position | agl | | altitude above ground level |
| SI.Angle | gamma | | flight path angle |
| SI.Velocity | vt | | true velocity |
| SI.Velocity[3] | vR_r | | relative air velocity in reference frame |
| SI.Angle | phi | euler[1] | euler angle 1: body roll |
| SI.Angle | theta | euler[2] | euler angle 2: horizon pitch |
| SI.Angle | psi | euler[3] | euler angle 3: heading |
| SI.Angle | phiDot | eulerDot[1] | euler angle 1 rate: body roll |
| SI.Angle | thetaDot | eulerDot[2] | euler angle 2 rate: horizon pitch |
| SI.Angle | psiDot | eulerDot[3] | euler angle 3 rate: heading |
| Real | phi_deg | SI.Conversions.to_deg(phi) | |
| Real | theta_deg | SI.Conversions.to_deg(theta) | |
| Real | psi_deg | SI.Conversions.to_deg(psi) | |
| Real[3,3] | C_euler | | |