LIBRARY

RelativeAngles

Measures relative Euler/Cardan angles between two frames.

Computes the three rotation angles to rotate frame_a into frame_b for the given axis sequence (default: [1,2,3] = XYZ). This is a sensor: no forces or torques are exerted.

Usage

MultibodyComponents.RelativeAngles()

Parameters:

Name	Description	Units	Default value
sequence		–	[1, 2, 3]

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)

• angle_1 - This connector represents a real signal as an output from a component (RealOutput)

• angle_2 - This connector represents a real signal as an output from a component (RealOutput)

• angle_3 - This connector represents a real signal as an output from a component (RealOutput)

Variables

Name	Description	Units
R_rel		–
angles		rad

Behavior

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

Source

"""
Measures relative Euler/Cardan angles between two frames.

Computes the three rotation angles to rotate `frame_a` into `frame_b`
for the given axis `sequence` (default: [1,2,3] = XYZ).
This is a sensor: no forces or torques are exerted.
"""
component RelativeAngles
  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": []
    }
  }
  angle_1 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  angle_2 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  angle_3 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter sequence::Integer[3] = [1, 2, 3]
  variable R_rel::Real[3, 3]
  variable angles::Angle[3]
relations
  # Sensor exerts no forces or torques
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
  frame_b.f = [0, 0, 0]
  frame_b.tau = [0, 0, 0]
  # Relative rotation: from frame_a to frame_b
  R_rel = frame_b.R * transpose(frame_a.R)
  # Extract angles
  angles = axes_rotationangles(R_rel, sequence)
  [angle_1, angle_2, angle_3] = angles
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/TwoFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "rel ang", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end

Flattened Source

"""
Measures relative Euler/Cardan angles between two frames.

Computes the three rotation angles to rotate `frame_a` into `frame_b`
for the given axis `sequence` (default: [1,2,3] = XYZ).
This is a sensor: no forces or torques are exerted.
"""
component RelativeAngles
  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": []
    }
  }
  angle_1 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  angle_2 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  angle_3 = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter sequence::Integer[3] = [1, 2, 3]
  variable R_rel::Real[3, 3]
  variable angles::Angle[3]
relations
  # Sensor exerts no forces or torques
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
  frame_b.f = [0, 0, 0]
  frame_b.tau = [0, 0, 0]
  # Relative rotation: from frame_a to frame_b
  R_rel = frame_b.R * transpose(frame_a.R)
  # Extract angles
  angles = axes_rotationangles(R_rel, sequence)
  [angle_1, angle_2, angle_3] = angles
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/TwoFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "rel ang", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

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