The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved.

Options of parameter resolveInFrame
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 v 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:

v0 = der([x,y,phi])
v = [cos(frame_resolve.phi), sin(frame_resolve.phi),0;-sin(frame_resolve.phi),cos(frame_resolve.phi),0;0,0,1] * [v0[1];v0[2];v0[3]]

where [x y φ] is position and angle vector of origin of frame_a resolved in world frame.


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