FixedTranslation
Fixed translation of frame_b with respect to frame_a
Library
Mechanics/MultiBody/Parts
Description
Component for a fixed translation of frame_b with respect to frame_a, i.e., the relationship between connectors frame_a and frame_b remains constant and frame_a is always parallel to frame_b.
By default, this component is visualized by a cylinder connecting frame_a and frame_b, as shown in the figure below. Note, that the two visualized frames 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 | Vector from frame_a to frame_b resolved in frame_a | 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 frame_a to shape origin, resolved in frame_a | Vector of size 3 | |
mo_lengthDirection | lengthDirection | Vector in length direction of shape, resolved in frame_a | Vector of size 3 | |
mo_widthDirection | widthDirection | Vector in width direction of shape, resolved in frame_a | 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 depending on shapeType (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_a | implicit | Coordinate system fixed to the component with one cut-force and cut-torque | input | 1 |
frame_b | implicit | Coordinate system fixed to the component with one cut-force and cut-torque | output | 1 |