Developed 2010 at the DLR Institute of System Dynamics and Control
The 3 signals of the force connector contain force and torque.
The first and second signal are interpreted as the x- and y-coordinates of
a force and the third is torque, acting between two frame connectors
to which frame_a and frame_b are attached respectively.
Note that torque is a scalar quantity, which is exerted perpendicular
to the x-y plane.
Parameter resolveInFrame defines in which frame the input
force shall be resolved.
| Types.ResolveInFrameB. | Meaning |
|---|---|
| world | Resolve input force in world frame (= default) |
| frame_a | Resolve input force in frame_a |
| frame_b | Resolve input force in frame_b |
| frame_resolve | Resolve input force in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the force coordinates shall be resolved in the frame, which is connected to frame_resolve.
Developed 2010 at the DLR Institute of System Dynamics and Control