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.

Options of parameter resolveInFrame
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]


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