BasicAbsoluteAngularVelocity
Basic sensor to measure absolute angular velocity
Library
Mechanics/MultiBody/Sensors/Internal
Description
This basic sensor is aimed to be used within advanced sensors where the absolute angular velocity of frame_a should be determined. This vector is provided at the output signal connector w.
Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:
| resolveInFrame = Types.ResolveInFrameA. | Meaning |
|---|---|
| world | Resolve vector in world frame |
| frame_a | Resolve vector in frame_a |
| frame_resolve | Resolve vector in frame_resolve |
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector w is resolved in the frame to which frame_resolve is connected.
Example
If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:
w = MultiBody.Frames.angularVelocity2(frame_a.R);
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_resolveInFrame | resolveInFrame | Frame in which output vector w is resolved (world, frame_a, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_w | w | w | Structure | |
mo_w/fixed | fixed | Cell of vectors of size 3 | true | |
mo_w/start | start | Cell of vectors of size 3 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system from which kinematic quantities are measured | input | 1 |
frame_resolve | implicit | Coordinate system in which output vector(s) is optionally resolved | output | 1 |
w | implicit | Absolute angular velocity vector | output | 2 |