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PrescribedPosition.md

PrescribedPosition ​

Prescribed position of frame_b via input connectors.

The position of frame_b is driven by the three real inputs r_x, r_y, r_z, resolved in the world frame.

When fixed_orientation is true, the orientation is locked to the identity (world frame). When false, no orientation constraint is imposed and no torque is applied — orientation must be determined by connected components.

Usage ​

MultibodyComponents.PrescribedPosition(render=true)

Parameters: ​

NameDescriptionUnitsDefault value
fixed_orientation–true
renderRender the component in animations–true

Connectors ​

  • 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)

  • 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)

Variables ​

NameDescriptionUnits
rPosition vector from world frame to frame_b, resolved in world framem
vAbsolute velocity of frame_b, resolved in world framem/s
aAbsolute acceleration of frame_b, resolved in world framem/s2

Behavior ​

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

Source ​

dyad
"""
Prescribed position of `frame_b` via input connectors.

The position of `frame_b` is driven by the three real inputs `r_x`, `r_y`, `r_z`,
resolved in the world frame.

When `fixed_orientation` is true, the orientation is locked to the identity
(world frame). When false, no orientation constraint is imposed and no
torque is applied — orientation must be determined by connected components.
"""
component PrescribedPosition
  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": 100, "x2": 50, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  r_y = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  r_z = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 780, "x2": 50, "y2": 880, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter fixed_orientation::Boolean = true
  "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)
  if fixed_orientation
    frame_b.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_b.tau = [0, 0, 0]
  end
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/PrescribedPosition.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end
Flattened Source
dyad
"""
Prescribed position of `frame_b` via input connectors.

The position of `frame_b` is driven by the three real inputs `r_x`, `r_y`, `r_z`,
resolved in the world frame.

When `fixed_orientation` is true, the orientation is locked to the identity
(world frame). When false, no orientation constraint is imposed and no
torque is applied — orientation must be determined by connected components.
"""
component PrescribedPosition
  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": 100, "x2": 50, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  r_y = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  r_z = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 780, "x2": 50, "y2": 880, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter fixed_orientation::Boolean = true
  "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)
  if fixed_orientation
    frame_b.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
  else
    frame_b.tau = [0, 0, 0]
  end
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/PrescribedPosition.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end


Test Cases ​

No test cases defined.