![r =transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0, 0, 1]) * [frame_a.x;frame_a.y;frame_a.phi] - [0;0;frame_resolve.phi]](modelica://PlanarMechanics/Resources/Images/equations/equation-dcUlfcwL.png)
The absolute position and angle vector [x y φ]
of the origin of frame_a is determined and provided at the output signal
connector r.
Via parameter resolveInFrame it is defined, in which frame
the position vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameA.world | world frame |
| Types.ResolveInFrameA.frame_a | frame_a |
| Types.ResolveInFrameA.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameA.frame_resolve,
the conditional connector frame_resolve is enabled
and r 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.ResolveInFrameA.frame_resolve,
the output vector is computed as:
Developed 2010 at the DLR Institute of System Dynamics and Control