.PlanarMechanics.Sensors.AbsoluteVelocity .PlanarMechanics.Sensors.AbsoluteVelocity
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.
| 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])](modelica://PlanarMechanics/Resources/Images/equations/equation-x2brh9fX.png)
![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]]](modelica://PlanarMechanics/Resources/Images/equations/equation-Kgd1NoyE.png)
where [x y φ]
is position and angle vector of origin of frame_a resolved
in world frame.
Developed 2010 at the DLR Institute of System Dynamics and Control