Special classes that store vector, acceleration, angular velocity, and angular acceleration at a cut. By connecting these to a cut they animate the relevant quantities in the cut. The class also contain sensors for forces, torques, and a sensor that measure both forces and torques. Note that these sensors measure the forces and torques transmitted through the sensor. This is necessary since forces and torques are flow quantities.
model Velocity extends Interfaces.OneFrame_a; VisualVector velocity( Material={0,0,1,0.5}, category="velocity", r=r0a, Size=va, S=Sa); equation fa = zeros(3); ta = zeros(3); end Velocity;
model Acceleration extends Interfaces.OneFrame_a; VisualVector acceleration( Material={1,1,0,0.5}, category="acceleration", r=r0a, Size=aa, S=Sa); equation fa = zeros(3); ta = zeros(3); end Acceleration;
model AngularVelocity extends Interfaces.OneFrame_a; VisualVector angular_velocity( Material={0,1,1,0.5}, category="angular velocity", r=r0a, Size=wa, S=Sa); equation fa = zeros(3); ta = zeros(3); end AngularVelocity;
model AngularAcceleration extends Interfaces.OneFrame_a; VisualVector angular_acceleration( Material={1,0,1,0.5}, category="angular acceleration", r=r0a, Size=za, S=Sa); equation fa = zeros(3); ta = zeros(3); end AngularAcceleration;
model ForceTorqueSensor extends Interfaces.TwoTreeFrames; VisualVector force( category="force", r=r0a, Size=fa, S=Sa); VisualVector torque( Material={0,1,0,0.5}, category="torque", r=r0a, Size=ta, S=Sa); equation Sb = Sa; wb = wa; zb = za; r0b = r0a; vb = va; ab = aa; fa = fb; ta = tb; end ForceTorqueSensor;
model ForceSensor extends Interfaces.TwoTreeFrames; VisualVector force( category="force", r=r0a, Size=fa, S=Sa); equation // Similar to FrameTranslation with r=0. Sb = Sa; wb = wa; zb = za; r0b = r0a; vb = va; ab = aa; fa = fb; ta = tb; end ForceSensor;
model TorqueSensor extends Interfaces.TwoTreeFrames; VisualVector torque( Material={0,1,0,0.5}, category="torque", r=r0a, Size=ta, S=Sa); equation // Similar to FrameTranslation with r=0. Sb = Sa; wb = wa; zb = za; r0b = r0a; vb = va; ab = aa; fa = fb; ta = tb; end TorqueSensor;