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AbsoluteVelocity.md

AbsoluteVelocity ​

Measures the absolute velocity of a frame connector's origin.

Always differentiates the position resolved in World first, then rotates the result into resolve_in_frame – matching Modelica's AbsoluteVelocity.

This is a sensor: no forces or torques are exerted.

Usage ​

MultibodyComponents.AbsoluteVelocity()

Parameters: ​

NameDescriptionUnitsDefault value
resolve_in_frame–ResolveInFrame.FrameA()

Connectors ​

  • frame_a - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

  • frame_resolve - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

  • 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)

Variables ​

NameDescriptionUnits
v0Absolute velocity resolved in the world framem/s
vm/s

Behavior ​

Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"

Source ​

dyad
"""
Measures the absolute velocity of a frame connector's origin.

Always differentiates the position resolved in World first, then rotates the
result into `resolve_in_frame` -- matching Modelica's AbsoluteVelocity.

This is a sensor: no forces or torques are exerted.
"""
component AbsoluteVelocity
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_resolve = Frame3D() if case(resolve_in_frame, ResolveInFrame.FrameResolve) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  v_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 140, "x2": 1060, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  v_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  v_z = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
  "Absolute velocity resolved in the world frame"
  variable v0::Velocity[3]
  variable v::Velocity[3]
relations
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
  if case(resolve_in_frame, ResolveInFrame.FrameResolve)
    frame_resolve.f = [0, 0, 0]
    frame_resolve.tau = [0, 0, 0]
  end
  v0 = der(frame_a.r_0)
  switch resolve_in_frame
    case World
      v = v0
    case FrameA
      v = resolve2(frame_a.R, v0)
    case FrameResolve
      v = resolve2(frame_resolve.R, v0)
  end
  [v_x, v_y, v_z] = v
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "abs vel", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end
Flattened Source
dyad
"""
Measures the absolute velocity of a frame connector's origin.

Always differentiates the position resolved in World first, then rotates the
result into `resolve_in_frame` -- matching Modelica's AbsoluteVelocity.

This is a sensor: no forces or torques are exerted.
"""
component AbsoluteVelocity
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_resolve = Frame3D() if case(resolve_in_frame, ResolveInFrame.FrameResolve) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  v_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 140, "x2": 1060, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  v_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  v_z = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
  "Absolute velocity resolved in the world frame"
  variable v0::Velocity[3]
  variable v::Velocity[3]
relations
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
  if case(resolve_in_frame, ResolveInFrame.FrameResolve)
    frame_resolve.f = [0, 0, 0]
    frame_resolve.tau = [0, 0, 0]
  end
  v0 = der(frame_a.r_0)
  switch resolve_in_frame
    case World
      v = v0
    case FrameA
      v = resolve2(frame_a.R, v0)
    case FrameResolve
      v = resolve2(frame_resolve.R, v0)
  end
  [v_x, v_y, v_z] = v
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "abs vel", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end


Test Cases ​

No test cases defined.