LIBRARY
AbsoluteSensor
Combined, toggleable absolute-motion sensor.
Each boolean parameter independently enables one output group. r/v/w/ angles are produced by composing the dedicated AbsolutePosition/ AbsoluteVelocity/AbsoluteAngularVelocity/AbsoluteAngles sensors as conditional sub-components. a/z have no dedicated public sensor of their own (Modelica has none either): they are computed by double-differentiating the world-resolved position/angular velocity and rotating World -> resolve_in_frame via an internal TransformAbsoluteVector.
Usage
MultibodyComponents.AbsoluteSensor()
Parameters:
| Name | Description | Units | Default value |
|---|---|---|---|
resolve_in_frame | – | ResolveInFrame.FrameA() | |
sequence | Axis sequence used for angles (only meaningful when get_angles = true) | – | [1, 2, 3] |
get_r | Output the absolute position r | – | false |
get_v | Output the absolute velocity v | – | false |
get_a | Output the absolute acceleration a | – | false |
get_w | Output the absolute angular velocity w | – | false |
get_z | Output the absolute angular acceleration z | – | false |
get_angles | Output the absolute Euler/Cardan angles | – | false |
Connectors
frame_a- Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or severalFrame
connectors that can be connected together (Frame3D)
frame_resolve- Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or severalFrame
connectors that can be connected together (Frame3D)
r_x- This connector represents a real signal as an output from a component (RealOutput)r_y- This connector represents a real signal as an output from a component (RealOutput)r_z- This connector represents a real signal as an output from a component (RealOutput)v_x- This connector represents a real signal as an output from a component (RealOutput)v_y- This connector represents a real signal as an output from a component (RealOutput)v_z- This connector represents a real signal as an output from a component (RealOutput)a_x- This connector represents a real signal as an output from a component (RealOutput)a_y- This connector represents a real signal as an output from a component (RealOutput)a_z- This connector represents a real signal as an output from a component (RealOutput)w_x- This connector represents a real signal as an output from a component (RealOutput)w_y- This connector represents a real signal as an output from a component (RealOutput)w_z- This connector represents a real signal as an output from a component (RealOutput)z_x- This connector represents a real signal as an output from a component (RealOutput)z_y- This connector represents a real signal as an output from a component (RealOutput)z_z- This connector represents a real signal as an output from a component (RealOutput)angle_1- This connector represents a real signal as an output from a component (RealOutput)angle_2- This connector represents a real signal as an output from a component (RealOutput)angle_3- This connector represents a real signal as an output from a component (RealOutput)
Variables
| Name | Description | Units |
|---|---|---|
v0 | World-resolved velocity (intermediate for a) | m/s |
a0 | World-resolved acceleration | m/s2 |
w0 | World-resolved angular velocity (intermediate for z) | rad/s |
z0 | World-resolved angular acceleration | rad/s2 |
Behavior
Source
dyad
"""
Combined, toggleable absolute-motion sensor.
Each boolean parameter independently enables one output group. `r`/`v`/`w`/
`angles` are produced by composing the dedicated `AbsolutePosition`/
`AbsoluteVelocity`/`AbsoluteAngularVelocity`/`AbsoluteAngles` sensors as
conditional sub-components. `a`/`z` have no dedicated public sensor of their
own (Modelica has none either): they are computed by double-differentiating
the world-resolved position/angular velocity and rotating World ->
`resolve_in_frame` via an internal `TransformAbsoluteVector`.
"""
component AbsoluteSensor
frame_a = Frame3D() {
"Dyad": {"placement": {"diagram": {"x1": 460, "y1": 960, "x2": 540, "y2": 1040}}}
}
frame_resolve = Frame3D() if case(resolve_in_frame, ResolveInFrame.FrameResolve) {
"Dyad": {"placement": {"diagram": {"x1": 460, "y1": -50, "x2": 540, "y2": 30}}}
}
r_x = RealOutput() if get_r {"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 0, "x2": 1040, "y2": 80}}}}
r_y = RealOutput() if get_r {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 100, "x2": 1040, "y2": 180}}}
}
r_z = RealOutput() if get_r {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 200, "x2": 1040, "y2": 280}}}
}
v_x = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 300, "x2": 1040, "y2": 380}}}
}
v_y = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 400, "x2": 1040, "y2": 480}}}
}
v_z = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 500, "x2": 1040, "y2": 580}}}
}
a_x = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 600, "x2": 1040, "y2": 680}}}
}
a_y = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 700, "x2": 1040, "y2": 780}}}
}
a_z = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 800, "x2": 1040, "y2": 880}}}
}
w_x = RealOutput() if get_w {
"Dyad": {"placement": {"diagram": {"x1": -50, "y1": 0, "x2": 30, "y2": 80, "rot": 180}}}
}
w_y = RealOutput() if get_w {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 100, "x2": 30, "y2": 180, "rot": 180}}
}
}
w_z = RealOutput() if get_w {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 200, "x2": 30, "y2": 280, "rot": 180}}
}
}
z_x = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 300, "x2": 30, "y2": 380, "rot": 180}}
}
}
z_y = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 400, "x2": 30, "y2": 480, "rot": 180}}
}
}
z_z = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 500, "x2": 30, "y2": 580, "rot": 180}}
}
}
angle_1 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 600, "x2": 30, "y2": 680, "rot": 180}}
}
}
angle_2 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 700, "x2": 30, "y2": 780, "rot": 180}}
}
}
angle_3 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 800, "x2": 30, "y2": 880, "rot": 180}}
}
}
pos = AbsolutePosition(resolve_in_frame = resolve_in_frame) if get_r {
"Dyad": {"placement": {"diagram": {"x1": 450, "x2": 550, "y1": 300, "y2": 400}}}
}
vel = AbsoluteVelocity(resolve_in_frame = resolve_in_frame) if get_v {
"Dyad": {"placement": {"diagram": {"x1": 250, "x2": 350, "y1": 330, "y2": 430}}}
}
angvel = AbsoluteAngularVelocity(resolve_in_frame = resolve_in_frame) if get_w {
"Dyad": {"placement": {"diagram": {"x1": 480, "x2": 580, "y1": 100, "y2": 200}}}
}
ang = AbsoluteAngles(sequence = sequence) if get_angles {
"Dyad": {"placement": {"diagram": {"x1": 450, "x2": 550, "y1": 500, "y2": 600}}}
}
acc_transform = TransformAbsoluteVector(frame_r_in = ResolveInFrame.World(), frame_r_out = resolve_in_frame) if get_a {
"Dyad": {"placement": {"diagram": {"x1": 650, "x2": 750, "y1": 300, "y2": 400}}}
}
angacc_transform = TransformAbsoluteVector(frame_r_in = ResolveInFrame.World(), frame_r_out = resolve_in_frame) if get_z {
"Dyad": {"placement": {"diagram": {"x1": 250, "x2": 350, "y1": 130, "y2": 230}}}
}
structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
"Axis sequence used for `angles` (only meaningful when get_angles = true)"
structural parameter sequence::Integer[3] = [1, 2, 3]
"Output the absolute position r"
structural parameter get_r::Boolean = false
"Output the absolute velocity v"
structural parameter get_v::Boolean = false
"Output the absolute acceleration a"
structural parameter get_a::Boolean = false
"Output the absolute angular velocity w"
structural parameter get_w::Boolean = false
"Output the absolute angular acceleration z"
structural parameter get_z::Boolean = false
"Output the absolute Euler/Cardan angles"
structural parameter get_angles::Boolean = false
"World-resolved velocity (intermediate for a)"
variable v0::Velocity[3] if get_a
"World-resolved acceleration"
variable a0::Acceleration[3] if get_a
"World-resolved angular velocity (intermediate for z)"
variable w0::AngularVelocity[3] if get_z
"World-resolved angular acceleration"
variable z0::AngularAcceleration[3] if get_z
relations
if get_r
connect(frame_a, pos.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, pos.frame_resolve)
end
[r_x, r_y, r_z] = pos.r
end
if get_v
connect(frame_a, vel.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, vel.frame_resolve)
end
[v_x, v_y, v_z] = vel.v
end
if get_w
connect(frame_a, angvel.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, angvel.frame_resolve)
end
[w_x, w_y, w_z] = angvel.w
end
if get_angles
connect(frame_a, ang.frame_a)
angle_1 = ang.angles[1]
angle_2 = ang.angles[2]
angle_3 = ang.angles[3]
end
if get_a
v0 = der(frame_a.r_0)
a0 = der(v0)
connect(frame_a, acc_transform.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, acc_transform.frame_resolve)
end
acc_transform.r_in_x = a0[1]
acc_transform.r_in_y = a0[2]
acc_transform.r_in_z = a0[3]
a_x = acc_transform.r_out_x
a_y = acc_transform.r_out_y
a_z = acc_transform.r_out_z
end
if get_z
w0 = angular_velocity1(frame_a.R)
z0 = der(w0)
connect(frame_a, angacc_transform.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, angacc_transform.frame_resolve)
end
angacc_transform.r_in_x = z0[1]
angacc_transform.r_in_y = z0[2]
angacc_transform.r_in_z = z0[3]
z_x = angacc_transform.r_out_x
z_y = angacc_transform.r_out_y
z_z = angacc_transform.r_out_z
end
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 150,
"rot": 0,
"attrs": {"font-size": "140"}
},
{"label": "abs sensor", "x": 500, "y": 680, "rot": 0}
]
}
}
endFlattened Source
dyad
"""
Combined, toggleable absolute-motion sensor.
Each boolean parameter independently enables one output group. `r`/`v`/`w`/
`angles` are produced by composing the dedicated `AbsolutePosition`/
`AbsoluteVelocity`/`AbsoluteAngularVelocity`/`AbsoluteAngles` sensors as
conditional sub-components. `a`/`z` have no dedicated public sensor of their
own (Modelica has none either): they are computed by double-differentiating
the world-resolved position/angular velocity and rotating World ->
`resolve_in_frame` via an internal `TransformAbsoluteVector`.
"""
component AbsoluteSensor
frame_a = Frame3D() {
"Dyad": {"placement": {"diagram": {"x1": 460, "y1": 960, "x2": 540, "y2": 1040}}}
}
frame_resolve = Frame3D() if case(resolve_in_frame, ResolveInFrame.FrameResolve) {
"Dyad": {"placement": {"diagram": {"x1": 460, "y1": -50, "x2": 540, "y2": 30}}}
}
r_x = RealOutput() if get_r {"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 0, "x2": 1040, "y2": 80}}}}
r_y = RealOutput() if get_r {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 100, "x2": 1040, "y2": 180}}}
}
r_z = RealOutput() if get_r {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 200, "x2": 1040, "y2": 280}}}
}
v_x = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 300, "x2": 1040, "y2": 380}}}
}
v_y = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 400, "x2": 1040, "y2": 480}}}
}
v_z = RealOutput() if get_v {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 500, "x2": 1040, "y2": 580}}}
}
a_x = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 600, "x2": 1040, "y2": 680}}}
}
a_y = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 700, "x2": 1040, "y2": 780}}}
}
a_z = RealOutput() if get_a {
"Dyad": {"placement": {"diagram": {"x1": 960, "y1": 800, "x2": 1040, "y2": 880}}}
}
w_x = RealOutput() if get_w {
"Dyad": {"placement": {"diagram": {"x1": -50, "y1": 0, "x2": 30, "y2": 80, "rot": 180}}}
}
w_y = RealOutput() if get_w {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 100, "x2": 30, "y2": 180, "rot": 180}}
}
}
w_z = RealOutput() if get_w {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 200, "x2": 30, "y2": 280, "rot": 180}}
}
}
z_x = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 300, "x2": 30, "y2": 380, "rot": 180}}
}
}
z_y = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 400, "x2": 30, "y2": 480, "rot": 180}}
}
}
z_z = RealOutput() if get_z {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 500, "x2": 30, "y2": 580, "rot": 180}}
}
}
angle_1 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 600, "x2": 30, "y2": 680, "rot": 180}}
}
}
angle_2 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 700, "x2": 30, "y2": 780, "rot": 180}}
}
}
angle_3 = RealOutput() if get_angles {
"Dyad": {
"placement": {"diagram": {"x1": -50, "y1": 800, "x2": 30, "y2": 880, "rot": 180}}
}
}
pos = AbsolutePosition(resolve_in_frame = resolve_in_frame) if get_r {
"Dyad": {"placement": {"diagram": {"x1": 450, "x2": 550, "y1": 300, "y2": 400}}}
}
vel = AbsoluteVelocity(resolve_in_frame = resolve_in_frame) if get_v {
"Dyad": {"placement": {"diagram": {"x1": 250, "x2": 350, "y1": 330, "y2": 430}}}
}
angvel = AbsoluteAngularVelocity(resolve_in_frame = resolve_in_frame) if get_w {
"Dyad": {"placement": {"diagram": {"x1": 480, "x2": 580, "y1": 100, "y2": 200}}}
}
ang = AbsoluteAngles(sequence = sequence) if get_angles {
"Dyad": {"placement": {"diagram": {"x1": 450, "x2": 550, "y1": 500, "y2": 600}}}
}
acc_transform = TransformAbsoluteVector(frame_r_in = ResolveInFrame.World(), frame_r_out = resolve_in_frame) if get_a {
"Dyad": {"placement": {"diagram": {"x1": 650, "x2": 750, "y1": 300, "y2": 400}}}
}
angacc_transform = TransformAbsoluteVector(frame_r_in = ResolveInFrame.World(), frame_r_out = resolve_in_frame) if get_z {
"Dyad": {"placement": {"diagram": {"x1": 250, "x2": 350, "y1": 130, "y2": 230}}}
}
structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
"Axis sequence used for `angles` (only meaningful when get_angles = true)"
structural parameter sequence::Integer[3] = [1, 2, 3]
"Output the absolute position r"
structural parameter get_r::Boolean = false
"Output the absolute velocity v"
structural parameter get_v::Boolean = false
"Output the absolute acceleration a"
structural parameter get_a::Boolean = false
"Output the absolute angular velocity w"
structural parameter get_w::Boolean = false
"Output the absolute angular acceleration z"
structural parameter get_z::Boolean = false
"Output the absolute Euler/Cardan angles"
structural parameter get_angles::Boolean = false
"World-resolved velocity (intermediate for a)"
variable v0::Velocity[3] if get_a
"World-resolved acceleration"
variable a0::Acceleration[3] if get_a
"World-resolved angular velocity (intermediate for z)"
variable w0::AngularVelocity[3] if get_z
"World-resolved angular acceleration"
variable z0::AngularAcceleration[3] if get_z
relations
if get_r
connect(frame_a, pos.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, pos.frame_resolve)
end
[r_x, r_y, r_z] = pos.r
end
if get_v
connect(frame_a, vel.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, vel.frame_resolve)
end
[v_x, v_y, v_z] = vel.v
end
if get_w
connect(frame_a, angvel.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, angvel.frame_resolve)
end
[w_x, w_y, w_z] = angvel.w
end
if get_angles
connect(frame_a, ang.frame_a)
angle_1 = ang.angles[1]
angle_2 = ang.angles[2]
angle_3 = ang.angles[3]
end
if get_a
v0 = der(frame_a.r_0)
a0 = der(v0)
connect(frame_a, acc_transform.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, acc_transform.frame_resolve)
end
acc_transform.r_in_x = a0[1]
acc_transform.r_in_y = a0[2]
acc_transform.r_in_z = a0[3]
a_x = acc_transform.r_out_x
a_y = acc_transform.r_out_y
a_z = acc_transform.r_out_z
end
if get_z
w0 = angular_velocity1(frame_a.R)
z0 = der(w0)
connect(frame_a, angacc_transform.frame_a)
if case(resolve_in_frame, ResolveInFrame.FrameResolve)
connect(frame_resolve, angacc_transform.frame_resolve)
end
angacc_transform.r_in_x = z0[1]
angacc_transform.r_in_y = z0[2]
angacc_transform.r_in_z = z0[3]
z_x = angacc_transform.r_out_x
z_y = angacc_transform.r_out_y
z_z = angacc_transform.r_out_z
end
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 150,
"rot": 0,
"attrs": {"font-size": "140"}
},
{"label": "abs sensor", "x": 500, "y": 680, "rot": 0}
]
}
}
endTest Cases
No test cases defined.
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