For animation of across vector quantities.
Information
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.
Modelica definition
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;
Modelica definition
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;
Modelica definition
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;
Modelica definition
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;
Modelica definition
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;
Modelica definition
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;
Modelica definition
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;
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