.PlanarMechanics.Sensors.RelativePosition .PlanarMechanics.Sensors.RelativePosition
The relative position and angle vector [x y φ]
between the origins of frame_a and of frame_b
are determined and provided at the output signal connector r_rel.
Via parameter resolveInFrame it is defined, in which frame
the position vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameAB.world | world frame |
| Types.ResolveInFrameAB.frame_a | frame_a |
| Types.ResolveInFrameAB.frame_b | frame_b |
| Types.ResolveInFrameAB.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve,
the conditional connector frame_resolve is enabled
and r_rel 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.ResolveInFrameAB.frame_resolve,
the output vector is computed as:
![r_rel = transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0,0,1]) * [frame_b.x - frame_a.x;frame_b.y - frame_a.y;frame_b.phi - frame_a.phi]](modelica://PlanarMechanics/Resources/Images/equations/equation-LrRs4SXG.png)
Developed 2010 at the DLR Institute of System Dynamics and Control