Fixed
Frame fixed in the world frame at a given position
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.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled | Scalar | true |
mo_r | r | Position vector from world frame to frame_b, resolved in world frame | Vector of size 3 |
| Name | Label | Description | Data Type | Valid 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
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_b | implicit | Coordinate system fixed in the world frame | output | 1 |