LIBRARY

PlanarMechanics.AbsolutePosition

Measures absolute position and orientation of the origin of a frame connector.

This is a sensor component: it reads kinematic quantities without exerting forces. Use connect to attach to a body frame (sensor forces are zero, so the force balance is unaffected).

Usage

MultibodyComponents.PlanarMechanics.AbsolutePosition()

Parameters:

Name	Description	Units	Default value
resolve_in_frame		–	MultibodyComponents.ResolveInFrame.FrameA()

Connectors

• frame_a - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

• frame_resolve - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

• x - This connector represents a real signal as an output from a component (RealOutput)

• y - This connector represents a real signal as an output from a component (RealOutput)

• phi - This connector represents a real signal as an output from a component (RealOutput)

Behavior

$$\left[\begin{array}{c}x\left(t\right)=\mathtt{pos}\mathtt{.}\mathtt{x}\left(t\right)\\ y\left(t\right)=\mathtt{pos}\mathtt{.}\mathtt{y}\left(t\right)\\ \mathtt{phi}\left(t\right)=\mathtt{pos}\mathtt{.}\mathtt{phi}\left(t\right)\\ \mathrm{connect}(fram{e}_a,po{s}_{+}fram{e}_a)\\ {\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{fx}}\left(t\right)=0\\ {\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{fy}}\left(t\right)=0\\ {\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{tau}}\left(t\right)=0\\ {\mathrm{array}}_{literal}(\left[\begin{array}{c}3\end{array}\right],\mathtt{pos}\mathtt{.}\mathtt{x}\left(t\right),\mathtt{pos}\mathtt{.}\mathtt{y}\left(t\right),\mathtt{pos}\mathtt{.}\mathtt{phi}\left(t\right))=\mathtt{pos}\mathtt{.}\mathtt{r}\left(t\right)\\ {\mathtt{pos}\mathtt{.}\mathtt{rotation}}_{\mathrm{matrix}}\left(t\right)={\mathrm{array}}_{literal}(\left[\begin{array}{c}3\\ 3\end{array}\right],\cos \left({\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right)\right),\sin \left({\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right)\right),0,-\sin \left({\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right)\right),\cos \left({\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right)\right),0,0,0,1)\\ \mathtt{pos}\mathtt{.}\mathtt{r}\left(t\right)={\mathrm{array}}_{literal}(\left[\begin{array}{c}3\end{array}\right],0,0,-{\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right))+\mathrm{transpose}\left({\mathtt{pos}\mathtt{.}\mathtt{rotation}}_{\mathrm{matrix}}\left(t\right)\right)\cdot {\mathrm{array}}_{literal}(\left[\begin{array}{c}3\end{array}\right],{\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{x}}\left(t\right),{\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{y}}\left(t\right),{\mathtt{pos}\mathtt{.}\mathtt{frame}}_{\mathrm{a}.\mathrm{phi}}\left(t\right))\end{array}\right]$$

Source

# ── Public sensors ───────────────────────────────────────────────────────────
"""
Measures absolute position and orientation of the origin of a frame connector.

This is a sensor component: it reads kinematic quantities without exerting forces.
Use `connect` to attach to a body frame (sensor forces are zero, so the force
balance is unaffected).
"""
component AbsolutePosition
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -100, "y1": 450, "x2": 0, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_resolve = Frame2D() if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  # x-position
  x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 970, "y1": 150, "x2": 1070, "y2": 250, "rot": 0}
      },
      "tags": []
    }
  }
  # y-position
  y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  # rotation angle (counterclockwise)
  phi = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  pos = BasicAbsolutePosition(resolve_in_frame = resolve_in_frame)
  structural parameter resolve_in_frame::MultibodyComponents.ResolveInFrame = MultibodyComponents.ResolveInFrame.FrameA()
relations
  connect(frame_a, pos.frame_a)
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve()
    connect(frame_resolve, pos.frame_resolve)
  end
  x = pos.x
  y = pos.y
  phi = pos.phi
metadata {
  "Dyad": {"icons": {"default": "dyad://MultibodyComponents/AbsolutePosition.svg"}}
}
end

Flattened Source

"""
Measures absolute position and orientation of the origin of a frame connector.

This is a sensor component: it reads kinematic quantities without exerting forces.
Use `connect` to attach to a body frame (sensor forces are zero, so the force
balance is unaffected).
"""
component AbsolutePosition
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -100, "y1": 450, "x2": 0, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_resolve = Frame2D() if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
      },
      "tags": []
    }
  }
  # x-position
  x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 970, "y1": 150, "x2": 1070, "y2": 250, "rot": 0}
      },
      "tags": []
    }
  }
  # y-position
  y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  # rotation angle (counterclockwise)
  phi = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  pos = BasicAbsolutePosition(resolve_in_frame = resolve_in_frame)
  structural parameter resolve_in_frame::MultibodyComponents.ResolveInFrame = MultibodyComponents.ResolveInFrame.FrameA()
relations
  connect(frame_a, pos.frame_a)
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve()
    connect(frame_resolve, pos.frame_resolve)
  end
  x = pos.x
  y = pos.y
  phi = pos.phi
metadata {
  "Dyad": {"icons": {"default": "dyad://MultibodyComponents/AbsolutePosition.svg"}}
}
end

Test Cases

No test cases defined.

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  • SensorsTest