LIBRARY
PrescribedPose
Prescribed position and orientation of frame_b via input connectors.
Position is driven by r_x, r_y, r_z (world frame). Orientation is driven by quaternion inputs q_w, q_x, q_y, q_z (scalar-first convention: [w, i, j, k]).
Usage
MultibodyComponents.PrescribedPose(render=true)
Parameters:
| Name | Description | Units | Default value |
|---|---|---|---|
render | Render the component in animations | – | true |
Connectors
frame_b- 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 input to a component (RealInput)r_y- This connector represents a real signal as an input to a component (RealInput)r_z- This connector represents a real signal as an input to a component (RealInput)q_w- This connector represents a real signal as an input to a component (RealInput)q_x- This connector represents a real signal as an input to a component (RealInput)q_y- This connector represents a real signal as an input to a component (RealInput)q_z- This connector represents a real signal as an input to a component (RealInput)
Variables
| Name | Description | Units |
|---|---|---|
r | Position vector from world frame to frame_b, resolved in world frame | m |
v | Absolute velocity of frame_b, resolved in world frame | m/s |
a | Absolute acceleration of frame_b, resolved in world frame | m/s2 |
Behavior
Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"
Source
dyad
"""
Prescribed position and orientation of `frame_b` via input connectors.
Position is driven by `r_x`, `r_y`, `r_z` (world frame).
Orientation is driven by quaternion inputs `q_w`, `q_x`, `q_y`, `q_z`
(scalar-first convention: [w, i, j, k]).
"""
component PrescribedPose
frame_b = Frame3D() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 50, "x2": 50, "y2": 150, "rot": 0}
},
"tags": []
}
}
r_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 230, "x2": 50, "y2": 330, "rot": 0}
},
"tags": []
}
}
r_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 410, "x2": 50, "y2": 510, "rot": 0}
},
"tags": []
}
}
q_w = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 570, "x2": 50, "y2": 670, "rot": 0}
},
"tags": []
}
}
q_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 630, "x2": 50, "y2": 730, "rot": 0}
},
"tags": []
}
}
q_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 690, "x2": 50, "y2": 790, "rot": 0}
},
"tags": []
}
}
q_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 750, "x2": 50, "y2": 850, "rot": 0}
},
"tags": []
}
}
"Render the component in animations"
parameter render::Boolean = true
"Position vector from world frame to frame_b, resolved in world frame"
variable r::Position[3]
"Absolute velocity of frame_b, resolved in world frame"
variable v::Velocity[3]
"Absolute acceleration of frame_b, resolved in world frame"
variable a::Acceleration[3]
relations
r = [r_x, r_y, r_z]
frame_b.r_0 = r
v = der(r)
a = der(v)
frame_b.R = from_Q([q_w, q_x, q_y, q_z])
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/PrescribedPose.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 150,
"rot": 0,
"attrs": {"font-size": "160"}
}
]
}
}
endFlattened Source
dyad
"""
Prescribed position and orientation of `frame_b` via input connectors.
Position is driven by `r_x`, `r_y`, `r_z` (world frame).
Orientation is driven by quaternion inputs `q_w`, `q_x`, `q_y`, `q_z`
(scalar-first convention: [w, i, j, k]).
"""
component PrescribedPose
frame_b = Frame3D() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 50, "x2": 50, "y2": 150, "rot": 0}
},
"tags": []
}
}
r_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 230, "x2": 50, "y2": 330, "rot": 0}
},
"tags": []
}
}
r_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 410, "x2": 50, "y2": 510, "rot": 0}
},
"tags": []
}
}
q_w = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 570, "x2": 50, "y2": 670, "rot": 0}
},
"tags": []
}
}
q_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 630, "x2": 50, "y2": 730, "rot": 0}
},
"tags": []
}
}
q_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 690, "x2": 50, "y2": 790, "rot": 0}
},
"tags": []
}
}
q_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -50, "y1": 750, "x2": 50, "y2": 850, "rot": 0}
},
"tags": []
}
}
"Render the component in animations"
parameter render::Boolean = true
"Position vector from world frame to frame_b, resolved in world frame"
variable r::Position[3]
"Absolute velocity of frame_b, resolved in world frame"
variable v::Velocity[3]
"Absolute acceleration of frame_b, resolved in world frame"
variable a::Acceleration[3]
relations
r = [r_x, r_y, r_z]
frame_b.r_0 = r
v = der(r)
a = der(v)
frame_b.R = from_Q([q_w, q_x, q_y, q_z])
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/PrescribedPose.svg"},
"labels": [
{
"label": "$(instance)",
"x": 500,
"y": 150,
"rot": 0,
"attrs": {"font-size": "160"}
}
]
}
}
endTest Cases
No test cases defined.
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