FreeMotionScalarInit

Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states)

    FreeMotionScalarInit

Library

Mechanics/MultiBody/Joints

Description

Joint which does not constrain the motion between frame_a and frame_b. Such a joint is meaningful if the relative distance and orientation between frame_a and frame_b, and their derivatives, shall be used as states or shall be used for non-standard initialization. This joint allows to initialize every scalar element of the relative quantities, as well as to define StateSelect attributes for every scalar element separately.

In the following figure the animation of a FreeMotionScalarInit joint is shown. The light blue coordinate system is frame_a and the dark blue coordinate system is frame_b of the joint. (here: r_rel_a_1(start = 0.5), r_rel_a_2(start = 0), r_rel_a_3(start = 0.5), angle_1(start = 45o), angle_2(start = 45o), angle_3(start = 45o)).

A example to use this joint for the initialization of a planar double pendulum by providing its tip position, is shown in Examples.Elementary.DoublePendulumInitTip.

Parameters

FreeMotionScalarInit_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled (show arrow from frame_a to frame_b)

Scalar

true
false

FreeMotionScalarInit_1

NameLabelDescriptionData TypeValid Values

mo_use_r

use_r

= true, if r_rel_a shall be used

Scalar

true
false

mo_r_rel_a_1_stateSelect

r_rel_a_1_stateSelect

StateSelect of r_rel_a[1]

Structure

mo_r_rel_a_1_stateSelect/choice1

StateSelect.never

Number

0
1

mo_r_rel_a_1_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_r_rel_a_1_stateSelect/choice3

StateSelect.default

Number

0
1

mo_r_rel_a_1_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_r_rel_a_1_stateSelect/choice5

StateSelect.always

Number

0
1

mo_r_rel_a_2_stateSelect

r_rel_a_2_stateSelect

StateSelect of r_rel_a[2]

Structure

mo_r_rel_a_2_stateSelect/choice1

StateSelect.never

Number

0
1

mo_r_rel_a_2_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_r_rel_a_2_stateSelect/choice3

StateSelect.default

Number

0
1

mo_r_rel_a_2_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_r_rel_a_2_stateSelect/choice5

StateSelect.always

Number

0
1

mo_r_rel_a_3_stateSelect

r_rel_a_3_stateSelect

StateSelect of r_rel_a[3]

Structure

mo_r_rel_a_3_stateSelect/choice1

StateSelect.never

Number

0
1

mo_r_rel_a_3_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_r_rel_a_3_stateSelect/choice3

StateSelect.default

Number

0
1

mo_r_rel_a_3_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_r_rel_a_3_stateSelect/choice5

StateSelect.always

Number

0
1

mo_use_v

use_v

= true, if v_rel_a shall be used

Scalar

true
false

mo_v_rel_a_1_stateSelect

v_rel_a_1_stateSelect

StateSelect of v_rel_a[1]

Structure

mo_v_rel_a_1_stateSelect/choice1

StateSelect.never

Number

0
1

mo_v_rel_a_1_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_v_rel_a_1_stateSelect/choice3

StateSelect.default

Number

0
1

mo_v_rel_a_1_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_v_rel_a_1_stateSelect/choice5

StateSelect.always

Number

0
1

mo_v_rel_a_2_stateSelect

v_rel_a_2_stateSelect

StateSelect of v_rel_a[2]

Structure

mo_v_rel_a_2_stateSelect/choice1

StateSelect.never

Number

0
1

mo_v_rel_a_2_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_v_rel_a_2_stateSelect/choice3

StateSelect.default

Number

0
1

mo_v_rel_a_2_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_v_rel_a_2_stateSelect/choice5

StateSelect.always

Number

0
1

mo_v_rel_a_3_stateSelect

v_rel_a_3_stateSelect

StateSelect of v_rel_a[3]

Structure

mo_v_rel_a_3_stateSelect/choice1

StateSelect.never

Number

0
1

mo_v_rel_a_3_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_v_rel_a_3_stateSelect/choice3

StateSelect.default

Number

0
1

mo_v_rel_a_3_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_v_rel_a_3_stateSelect/choice5

StateSelect.always

Number

0
1

mo_use_a

use_a

= true, if a_rel_a shall be used

Scalar

true
false

FreeMotionScalarInit_2

NameLabelDescriptionData TypeValid Values

mo_use_angle

use_angle

= true, if angle shall be used

Scalar

true
false

mo_sequence_start

sequence_start

Sequence of angle rotations

Vector of size 3

mo_angle_1_stateSelect

angle_1_stateSelect

StateSelect of angle_1

Structure

mo_angle_1_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_1_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_1_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_1_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_1_stateSelect/choice5

StateSelect.always

Number

0
1

mo_angle_2_stateSelect

angle_2_stateSelect

StateSelect of angle_2

Structure

mo_angle_2_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_2_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_2_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_2_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_2_stateSelect/choice5

StateSelect.always

Number

0
1

mo_angle_3_stateSelect

angle_3_stateSelect

StateSelect of angle_3

Structure

mo_angle_3_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_3_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_3_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_3_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_3_stateSelect/choice5

StateSelect.always

Number

0
1

mo_use_angle_d

use_angle_d

= true, if angle_d shall be used

Scalar

true
false

mo_angle_d_1_stateSelect

angle_d_1_stateSelect

StateSelect of angle_d_1

Structure

mo_angle_d_1_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_d_1_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_d_1_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_d_1_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_d_1_stateSelect/choice5

StateSelect.always

Number

0
1

mo_angle_d_2_stateSelect

angle_d_2_stateSelect

StateSelect of angle_d_2

Structure

mo_angle_d_2_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_d_2_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_d_2_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_d_2_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_d_2_stateSelect/choice5

StateSelect.always

Number

0
1

mo_angle_d_3_stateSelect

angle_d_3_stateSelect

StateSelect of angle_d_3

Structure

mo_angle_d_3_stateSelect/choice1

StateSelect.never

Number

0
1

mo_angle_d_3_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_angle_d_3_stateSelect/choice3

StateSelect.default

Number

0
1

mo_angle_d_3_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_angle_d_3_stateSelect/choice5

StateSelect.always

Number

0
1

mo_use_angle_dd

use_angle_dd

= true, if angle_dd shall be used

Scalar

true
false

FreeMotionScalarInit_3

NameLabelDescriptionData TypeValid Values

mo_use_w

use_w

= true, if w_rel_b shall be used

Scalar

true
false

mo_w_rel_b_1_stateSelect

w_rel_b_1_stateSelect

StateSelect of w_rel_b[1]

Structure

mo_w_rel_b_1_stateSelect/choice1

StateSelect.never

Number

0
1

mo_w_rel_b_1_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_w_rel_b_1_stateSelect/choice3

StateSelect.default

Number

0
1

mo_w_rel_b_1_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_w_rel_b_1_stateSelect/choice5

StateSelect.always

Number

0
1

mo_w_rel_b_2_stateSelect

w_rel_b_2_stateSelect

StateSelect of w_rel_b[2]

Structure

mo_w_rel_b_2_stateSelect/choice1

StateSelect.never

Number

0
1

mo_w_rel_b_2_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_w_rel_b_2_stateSelect/choice3

StateSelect.default

Number

0
1

mo_w_rel_b_2_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_w_rel_b_2_stateSelect/choice5

StateSelect.always

Number

0
1

mo_w_rel_b_3_stateSelect

w_rel_b_3_stateSelect

StateSelect of w_rel_b[3]

Structure

mo_w_rel_b_3_stateSelect/choice1

StateSelect.never

Number

0
1

mo_w_rel_b_3_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_w_rel_b_3_stateSelect/choice3

StateSelect.default

Number

0
1

mo_w_rel_b_3_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_w_rel_b_3_stateSelect/choice5

StateSelect.always

Number

0
1

mo_use_z

use_z

= true, if z_rel_b shall be used

Scalar

true
false

FreeMotionScalarInit_4

NameLabelDescriptionData TypeValid Values

mo_arrowDiameter

arrowDiameter

Diameter of arrow from frame_a to frame_b

Scalar

mo_arrowColor

arrowColor

Color of arrow

Vector of size 3

mo_specularCoefficient

specularCoefficient

Reflection of ambient light (= 0: light is completely absorbed)

Scalar

FreeMotionScalarInit_5

NameLabelDescriptionData TypeValid Values

mo_r_rel_a_1

r_rel_a_1

r_rel_a_1

Structure

mo_r_rel_a_1/fixed

fixed

Cell of scalars

true
false

mo_r_rel_a_1/start

start

Cell of scalars

mo_r_rel_a_2

r_rel_a_2

r_rel_a_2

Structure

mo_r_rel_a_2/fixed

fixed

Cell of scalars

true
false

mo_r_rel_a_2/start

start

Cell of scalars

mo_r_rel_a_3

r_rel_a_3

r_rel_a_3

Structure

mo_r_rel_a_3/fixed

fixed

Cell of scalars

true
false

mo_r_rel_a_3/start

start

Cell of scalars

mo_v_rel_a_1

v_rel_a_1

v_rel_a_1

Structure

mo_v_rel_a_1/fixed

fixed

Cell of scalars

true
false

mo_v_rel_a_1/start

start

Cell of scalars

mo_v_rel_a_2

v_rel_a_2

v_rel_a_2

Structure

mo_v_rel_a_2/fixed

fixed

Cell of scalars

true
false

mo_v_rel_a_2/start

start

Cell of scalars

mo_v_rel_a_3

v_rel_a_3

v_rel_a_3

Structure

mo_v_rel_a_3/fixed

fixed

Cell of scalars

true
false

mo_v_rel_a_3/start

start

Cell of scalars

mo_a_rel_a_1

a_rel_a_1

a_rel_a_1

Structure

mo_a_rel_a_1/fixed

fixed

Cell of scalars

true
false

mo_a_rel_a_1/start

start

Cell of scalars

mo_a_rel_a_2

a_rel_a_2

a_rel_a_2

Structure

mo_a_rel_a_2/fixed

fixed

Cell of scalars

true
false

mo_a_rel_a_2/start

start

Cell of scalars

mo_a_rel_a_3

a_rel_a_3

a_rel_a_3

Structure

mo_a_rel_a_3/fixed

fixed

Cell of scalars

true
false

mo_a_rel_a_3/start

start

Cell of scalars

mo_angle_1

angle_1

angle_1

Structure

mo_angle_1/fixed

fixed

Cell of scalars

true
false

mo_angle_1/start

start

Cell of scalars

mo_angle_2

angle_2

angle_2

Structure

mo_angle_2/fixed

fixed

Cell of scalars

true
false

mo_angle_2/start

start

Cell of scalars

mo_angle_3

angle_3

angle_3

Structure

mo_angle_3/fixed

fixed

Cell of scalars

true
false

mo_angle_3/start

start

Cell of scalars

mo_angle_d_1

angle_d_1

angle_d_1

Structure

mo_angle_d_1/fixed

fixed

Cell of scalars

true
false

mo_angle_d_1/start

start

Cell of scalars

mo_angle_d_2

angle_d_2

angle_d_2

Structure

mo_angle_d_2/fixed

fixed

Cell of scalars

true
false

mo_angle_d_2/start

start

Cell of scalars

mo_angle_d_3

angle_d_3

angle_d_3

Structure

mo_angle_d_3/fixed

fixed

Cell of scalars

true
false

mo_angle_d_3/start

start

Cell of scalars

mo_angle_dd_1

angle_dd_1

angle_dd_1

Structure

mo_angle_dd_1/fixed

fixed

Cell of scalars

true
false

mo_angle_dd_1/start

start

Cell of scalars

mo_angle_dd_2

angle_dd_2

angle_dd_2

Structure

mo_angle_dd_2/fixed

fixed

Cell of scalars

true
false

mo_angle_dd_2/start

start

Cell of scalars

mo_angle_dd_3

angle_dd_3

angle_dd_3

Structure

mo_angle_dd_3/fixed

fixed

Cell of scalars

true
false

mo_angle_dd_3/start

start

Cell of scalars

mo_w_rel_b_1

w_rel_b_1

w_rel_b_1

Structure

mo_w_rel_b_1/fixed

fixed

Cell of scalars

true
false

mo_w_rel_b_1/start

start

Cell of scalars

mo_w_rel_b_2

w_rel_b_2

w_rel_b_2

Structure

mo_w_rel_b_2/fixed

fixed

Cell of scalars

true
false

mo_w_rel_b_2/start

start

Cell of scalars

mo_w_rel_b_3

w_rel_b_3

w_rel_b_3

Structure

mo_w_rel_b_3/fixed

fixed

Cell of scalars

true
false

mo_w_rel_b_3/start

start

Cell of scalars

mo_z_rel_b_1

z_rel_b_1

z_rel_b_1

Structure

mo_z_rel_b_1/fixed

fixed

Cell of scalars

true
false

mo_z_rel_b_1/start

start

Cell of scalars

mo_z_rel_b_2

z_rel_b_2

z_rel_b_2

Structure

mo_z_rel_b_2/fixed

fixed

Cell of scalars

true
false

mo_z_rel_b_2/start

start

Cell of scalars

mo_z_rel_b_3

z_rel_b_3

z_rel_b_3

Structure

mo_z_rel_b_3/fixed

fixed

Cell of scalars

true
false

mo_z_rel_b_3/start

start

Cell of scalars

Ports

NameTypeDescriptionIO TypeNumber

frame_a

implicit

Coordinate system a fixed to the component with one cut-force and cut-torque

input

1

frame_b

implicit

Coordinate system b fixed to the component with one cut-force and cut-torque

output

1