.PlanarMechanics.Sensors.RelativeVelocity .PlanarMechanics.Sensors.RelativeVelocity
The relative velocity vector between the origins of frame_a
and of frame_b are determined and provided at the output signal
connector v_rel.
Via parameter resolveInFrame it is defined, in which frame
the velocity 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 v_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-LZbFgA50.png)
![v_rel = transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi),0;sin(frame_resolve.phi),cos(frame_resolve.phi),0;0,0,1]) * [cos(frame_a.phi),-sin(frame_a.phi), 0;sin(frame_a.phi), cos(frame_a.phi),0;0,0,1] * r_rela](modelica://PlanarMechanics/Resources/Images/equations/equation-PGBmAMb7.png)
Developed 2010 at the DLR Institute of System Dynamics and Control