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PlanarMechanics.BasicRelativePosition.md

PlanarMechanics.BasicRelativePosition ​

Measures relative position and orientation (frame_b - frame_a) resolved in a configurable frame. Internal helper used by RelativePosition and by velocity/acceleration sensors.

This component extends from PartialTwoFrameSensor

Usage ​

MultibodyComponents.PlanarMechanics.BasicRelativePosition()

Parameters: ​

NameDescriptionUnitsDefault 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_b - 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)

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

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

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

Variables ​

NameDescriptionUnits
rotation_matrix–
r–

Behavior ​

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

Source ​

dyad
"""
Measures relative position and orientation (frame_b - frame_a) resolved in a
configurable frame. Internal helper used by RelativePosition and by
velocity/acceleration sensors.
"""
component BasicRelativePosition
  extends PartialTwoFrameSensor
  frame_resolve = Frame2D() if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 30, "x2": 1050, "y2": 130, "rot": 0}
      },
      "tags": []
    }
  }
  rel_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  rel_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  rel_phi = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::MultibodyComponents.ResolveInFrame = MultibodyComponents.ResolveInFrame.FrameA()
  variable rotation_matrix::Real[3, 3] if resolve_in_frame != MultibodyComponents.ResolveInFrame.World()
  variable r::Real[3]
relations
  frame_a.fx = 0
  frame_a.fy = 0
  frame_a.tau = 0
  frame_b.fx = 0
  frame_b.fy = 0
  frame_b.tau = 0
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.World()
    r = [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameA()
    rotation_matrix = [[cos(frame_a.phi), -sin(frame_a.phi), 0], [sin(frame_a.phi), cos(frame_a.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameB()
    rotation_matrix = [[cos(frame_b.phi), -sin(frame_b.phi), 0], [sin(frame_b.phi), cos(frame_b.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve()
    frame_resolve.fx = 0
    frame_resolve.fy = 0
    frame_resolve.tau = 0
    rotation_matrix = [[cos(frame_resolve.phi), -sin(frame_resolve.phi), 0], [sin(frame_resolve.phi), cos(frame_resolve.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  [rel_x, rel_y, rel_phi] = r
end
Flattened Source
dyad
"""
Measures relative position and orientation (frame_b - frame_a) resolved in a
configurable frame. Internal helper used by RelativePosition and by
velocity/acceleration sensors.
"""
component BasicRelativePosition
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 50, "y1": 450, "x2": 150, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 850, "y1": 450, "x2": 950, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_resolve = Frame2D() if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 30, "x2": 1050, "y2": 130, "rot": 0}
      },
      "tags": []
    }
  }
  rel_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  rel_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  rel_phi = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::MultibodyComponents.ResolveInFrame = MultibodyComponents.ResolveInFrame.FrameA()
  variable rotation_matrix::Real[3, 3] if resolve_in_frame != MultibodyComponents.ResolveInFrame.World()
  variable r::Real[3]
relations
  frame_a.fx = 0
  frame_a.fy = 0
  frame_a.tau = 0
  frame_b.fx = 0
  frame_b.fy = 0
  frame_b.tau = 0
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.World()
    r = [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameA()
    rotation_matrix = [[cos(frame_a.phi), -sin(frame_a.phi), 0], [sin(frame_a.phi), cos(frame_a.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameB()
    rotation_matrix = [[cos(frame_b.phi), -sin(frame_b.phi), 0], [sin(frame_b.phi), cos(frame_b.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  if resolve_in_frame == MultibodyComponents.ResolveInFrame.FrameResolve()
    frame_resolve.fx = 0
    frame_resolve.fy = 0
    frame_resolve.tau = 0
    rotation_matrix = [[cos(frame_resolve.phi), -sin(frame_resolve.phi), 0], [sin(frame_resolve.phi), cos(frame_resolve.phi), 0], [0, 0, 1]]
    r = transpose(rotation_matrix) * [frame_b.x - frame_a.x, frame_b.y - frame_a.y, frame_b.phi - frame_a.phi]
  end
  [rel_x, rel_y, rel_phi] = r
metadata {
  "Dyad": {"icons": {"default": "dyad://MultibodyComponents/TwoFrameSensor.svg"}}
}
end


Test Cases ​

No test cases defined.

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