LIBRARY

LineForceBase

Base model for line force components.

Computes the relative position vector, distance, and unit direction between frame_a and frame_b.

When fixed_rotation_at_frame_a / fixed_rotation_at_frame_b is true, the corresponding frame's orientation is fixed to the identity rotation. Otherwise, no torque is transmitted (tau = 0).

This component extends from PartialTwoFrames

Usage

MultibodyComponents.LineForceBase(s_small=1e-10)

Parameters:

Name	Description	Units	Default value
fixed_rotation_at_frame_a		–	false
fixed_rotation_at_frame_b		–	false
s_small		–	1e-10

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

connectors that can be connected together (Frame3D)

Variables

Name	Description	Units
length	Distance between the origin of frame_a and the origin of frame_b	m
s	(Guarded) distance between the origin of frame_a and the origin of frame_b (>= s_small))	m
r_rel_0	Position vector from frame_a to frame_b resolved in world frame	m
e_rel_0	Unit vector in direction from frame_a to frame_b, resolved in world frame	–

Behavior

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

Source

"""
Base model for line force components.

Computes the relative position vector, distance, and unit direction
between `frame_a` and `frame_b`.

When `fixed_rotation_at_frame_a` / `fixed_rotation_at_frame_b` is true,
the corresponding frame's orientation is fixed to the identity rotation.
Otherwise, no torque is transmitted (`tau = 0`).
"""
component LineForceBase
  extends PartialTwoFrames
  structural parameter fixed_rotation_at_frame_a::Boolean = false
  structural parameter fixed_rotation_at_frame_b::Boolean = false
  parameter s_small::Real = 1e-10
  "Distance between the origin of frame_a and the origin of frame_b"
  variable length::Length
  "(Guarded) distance between the origin of frame_a and the origin of frame_b (>= s_small))"
  variable s::Length
  "Position vector from frame_a to frame_b resolved in world frame"
  variable r_rel_0::Position[3]
  "Unit vector in direction from frame_a to frame_b, resolved in world frame"
  variable e_rel_0::Real[3]
relations
  # Relative position and distance
  r_rel_0 = frame_b.r_0 - frame_a.r_0
  length = norm_(r_rel_0)
  assert(length > s_small, "The distance between the origin of frame_a and the origin of frame_b of a line force component became smaller than parameter s_small.")
  s = max(length, s_small)
  e_rel_0 = r_rel_0 / s
  # frame_a: fix rotation to identity or set tau = 0
  if fixed_rotation_at_frame_a
    frame_a.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_a.tau = [0, 0, 0]
  end
  # frame_b: fix rotation to identity or set tau = 0
  if fixed_rotation_at_frame_b
    frame_b.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_b.tau = [0, 0, 0]
  end
end

Flattened Source

"""
Base model for line force components.

Computes the relative position vector, distance, and unit direction
between `frame_a` and `frame_b`.

When `fixed_rotation_at_frame_a` / `fixed_rotation_at_frame_b` is true,
the corresponding frame's orientation is fixed to the identity rotation.
Otherwise, no torque is transmitted (`tau = 0`).
"""
component LineForceBase
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter fixed_rotation_at_frame_a::Boolean = false
  structural parameter fixed_rotation_at_frame_b::Boolean = false
  parameter s_small::Real = 1e-10
  "Distance between the origin of frame_a and the origin of frame_b"
  variable length::Length
  "(Guarded) distance between the origin of frame_a and the origin of frame_b (>= s_small))"
  variable s::Length
  "Position vector from frame_a to frame_b resolved in world frame"
  variable r_rel_0::Position[3]
  "Unit vector in direction from frame_a to frame_b, resolved in world frame"
  variable e_rel_0::Real[3]
relations
  # Relative position and distance
  r_rel_0 = frame_b.r_0 - frame_a.r_0
  length = norm_(r_rel_0)
  assert(length > s_small, "The distance between the origin of frame_a and the origin of frame_b of a line force component became smaller than parameter s_small.")
  s = max(length, s_small)
  e_rel_0 = r_rel_0 / s
  # frame_a: fix rotation to identity or set tau = 0
  if fixed_rotation_at_frame_a
    frame_a.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_a.tau = [0, 0, 0]
  end
  # frame_b: fix rotation to identity or set tau = 0
  if fixed_rotation_at_frame_b
    frame_b.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_b.tau = [0, 0, 0]
  end
metadata {}
end

Test Cases

No test cases defined.

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