Fixed

Frame fixed in the world frame at a given position

    Fixed

Library

Mechanics/MultiBody/Parts

Description

Element consisting of a frame (frame_b) that is fixed in the world frame at a given position defined by parameter vector r (vector from origin of world frame to frame_b, resolved in the world frame).

By default, this component is visualized by a cylinder connecting the world frame and frame_b of this components, as shown in the figure below. Note, that the visualized world frame on the left side and Fixed.frame_b on the right side are not part of the component animation and that the animation may be switched off via parameter animation = false.

Parts.Fixed

Parameters

Fixed_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled

Scalar

true
false

mo_r

r

Position vector from world frame to frame_b, resolved in world frame

Vector of size 3

Fixed_1

NameLabelDescriptionData TypeValid Values

mo_shapeType

shapeType

Type of shape

String

mo_r_shape

r_shape

Vector from world frame to shape origin, resolved in world frame

Vector of size 3

mo_lengthDirection

lengthDirection

Vector in length direction of shape, resolved in world frame

Vector of size 3

mo_widthDirection

widthDirection

Vector in width direction of shape, resolved in world frame

Vector of size 3

mo_length

length

Length of shape

Scalar

mo_width

width

Width of shape

Scalar

mo_height

height

Height of shape

Scalar

mo_extra

extra

Additional parameter for cone, pipe etc. (see docu of Visualizers.Advanced.Shape)

Scalar

mo_color

color

Color of shape

Vector of size 3

mo_specularCoefficient

specularCoefficient

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

Scalar

Ports

NameTypeDescriptionIO TypeNumber

frame_b

implicit

Coordinate system fixed in the world frame

output

1