LIBRARY
TransformAbsoluteVector
Rotates a pure-rotation 3-vector (e.g. a force, velocity, or angular velocity; never a position) between frames via a two-step rotation through the world frame: frame_r_in -> world -> frame_r_out.
frame_a supplies only an orientation (frame_a.R); its position is never used, so this component is quantity-agnostic – it works identically for any 3-vector that transforms as a pure rotation.
Usage
MultibodyComponents.TransformAbsoluteVector()
Parameters:
| Name | Description | Units | Default value |
|---|---|---|---|
frame_r_in | Frame in which r_in is resolved | – | ResolveInFrame.FrameA() |
frame_r_out | Frame in which r_out is resolved | – | ResolveInFrame.FrameA() |
Connectors
frame_a- Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or severalFrame
connectors that can be connected together (Frame3D)
frame_resolve- Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or severalFrame
connectors that can be connected together (Frame3D)
r_in_x- This connector represents a real signal as an input to a component (RealInput)r_in_y- This connector represents a real signal as an input to a component (RealInput)r_in_z- This connector represents a real signal as an input to a component (RealInput)r_out_x- This connector represents a real signal as an output from a component (RealOutput)r_out_y- This connector represents a real signal as an output from a component (RealOutput)r_out_z- This connector represents a real signal as an output from a component (RealOutput)
Variables
| Name | Description | Units |
|---|---|---|
r_in | – | |
R1 | Rotation matrix from world into frame_r_in | – |
r_out | – |
Behavior
Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"
Source
dyad
"""
Rotates a pure-rotation 3-vector (e.g. a force, velocity, or angular velocity;
never a position) between frames via a two-step rotation through the world
frame: `frame_r_in -> world -> frame_r_out`.
`frame_a` supplies only an orientation (`frame_a.R`); its position is never
used, so this component is quantity-agnostic -- it works identically for any
3-vector that transforms as a pure rotation.
"""
component TransformAbsoluteVector
frame_a = Frame3D() {
"Dyad": {"placement": {"diagram": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050}}}
}
frame_resolve = Frame3D() if case(frame_r_in, ResolveInFrame.FrameResolve) or case(frame_r_out, ResolveInFrame.FrameResolve) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
},
"tags": []
}
}
r_in_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 140, "x2": 60, "y2": 240, "rot": 0}
},
"tags": []
}
}
r_in_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 450, "x2": 60, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_in_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 760, "x2": 60, "y2": 860, "rot": 0}
},
"tags": []
}
}
r_out_x = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 140, "x2": 1060, "y2": 240, "rot": 0}
},
"tags": []
}
}
r_out_y = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_out_z = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
},
"tags": []
}
}
"Frame in which r_in is resolved"
structural parameter frame_r_in::ResolveInFrame = ResolveInFrame.FrameA()
"Frame in which r_out is resolved"
structural parameter frame_r_out::ResolveInFrame = ResolveInFrame.FrameA()
variable r_in::Real[3] if frame_r_in != frame_r_out
"Rotation matrix from world into frame_r_in"
variable R1::Real[3, 3] if frame_r_in != frame_r_out
variable r_out::Real[3] if frame_r_in != frame_r_out
relations
frame_a.f = [0, 0, 0]
frame_a.tau = [0, 0, 0]
if case(frame_r_in, ResolveInFrame.FrameResolve) or case(frame_r_out, ResolveInFrame.FrameResolve)
frame_resolve.f = [0, 0, 0]
frame_resolve.tau = [0, 0, 0]
end
if frame_r_in == frame_r_out
r_out_x = r_in_x
r_out_y = r_in_y
r_out_z = r_in_z
else
r_in = [r_in_x, r_in_y, r_in_z]
switch frame_r_in
case World
R1 = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
case FrameA
R1 = frame_a.R
case FrameResolve
R1 = frame_resolve.R
end
switch frame_r_out
case World
r_out = resolve1(R1, r_in)
case FrameA
r_out = resolve_relative(r_in, R1, frame_a.R)
case FrameResolve
r_out = resolve_relative(r_in, R1, frame_resolve.R)
end
[r_out_x, r_out_y, r_out_z] = r_out
end
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
"labels": [{"label": "transform abs", "x": 500, "y": 680, "rot": 0}]
}
}
endFlattened Source
dyad
"""
Rotates a pure-rotation 3-vector (e.g. a force, velocity, or angular velocity;
never a position) between frames via a two-step rotation through the world
frame: `frame_r_in -> world -> frame_r_out`.
`frame_a` supplies only an orientation (`frame_a.R`); its position is never
used, so this component is quantity-agnostic -- it works identically for any
3-vector that transforms as a pure rotation.
"""
component TransformAbsoluteVector
frame_a = Frame3D() {
"Dyad": {"placement": {"diagram": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050}}}
}
frame_resolve = Frame3D() if case(frame_r_in, ResolveInFrame.FrameResolve) or case(frame_r_out, ResolveInFrame.FrameResolve) {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 450, "y1": -50, "x2": 550, "y2": 50, "rot": 0}
},
"tags": []
}
}
r_in_x = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 140, "x2": 60, "y2": 240, "rot": 0}
},
"tags": []
}
}
r_in_y = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 450, "x2": 60, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_in_z = RealInput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": -40, "y1": 760, "x2": 60, "y2": 860, "rot": 0}
},
"tags": []
}
}
r_out_x = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 140, "x2": 1060, "y2": 240, "rot": 0}
},
"tags": []
}
}
r_out_y = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
},
"tags": []
}
}
r_out_z = RealOutput() {
"Dyad": {
"placement": {
"diagram": {"iconName": "default", "x1": 960, "y1": 760, "x2": 1060, "y2": 860, "rot": 0}
},
"tags": []
}
}
"Frame in which r_in is resolved"
structural parameter frame_r_in::ResolveInFrame = ResolveInFrame.FrameA()
"Frame in which r_out is resolved"
structural parameter frame_r_out::ResolveInFrame = ResolveInFrame.FrameA()
variable r_in::Real[3] if frame_r_in != frame_r_out
"Rotation matrix from world into frame_r_in"
variable R1::Real[3, 3] if frame_r_in != frame_r_out
variable r_out::Real[3] if frame_r_in != frame_r_out
relations
frame_a.f = [0, 0, 0]
frame_a.tau = [0, 0, 0]
if case(frame_r_in, ResolveInFrame.FrameResolve) or case(frame_r_out, ResolveInFrame.FrameResolve)
frame_resolve.f = [0, 0, 0]
frame_resolve.tau = [0, 0, 0]
end
if frame_r_in == frame_r_out
r_out_x = r_in_x
r_out_y = r_in_y
r_out_z = r_in_z
else
r_in = [r_in_x, r_in_y, r_in_z]
switch frame_r_in
case World
R1 = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
case FrameA
R1 = frame_a.R
case FrameResolve
R1 = frame_resolve.R
end
switch frame_r_out
case World
r_out = resolve1(R1, r_in)
case FrameA
r_out = resolve_relative(r_in, R1, frame_a.R)
case FrameResolve
r_out = resolve_relative(r_in, R1, frame_resolve.R)
end
[r_out_x, r_out_y, r_out_z] = r_out
end
metadata {
"Dyad": {
"icons": {"default": "dyad://MultibodyComponents/OneFrameSensor.svg"},
"labels": [{"label": "transform abs", "x": 500, "y": 680, "rot": 0}]
}
}
endTest Cases
No test cases defined.
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