LIBRARY

`PlanarMechanics.examples.TwoTrackModelTest`

A double track model of a car.

Usage

MultibodyComponents.PlanarMechanics.examples.TwoTrackModelTest()

Behavior

[\begin{matrix} connect (i n e r t i a_{+} s p l i n e_{a}, w h e e l J o i n t 1_{+} f l a n g e_{a}) \\ connect (i n e r t i a 3_{+} s p l i n e_{a}, w h e e l J o i n t 4_{+} f l a n g e_{a}) \\ connect (b o d y 2_{+} f r a m e_{a}, w h e e l J o i n t 4_{+} f r a m e_{a}, r i g h t T r a i l_{+} f r a m e_{a}) \\ connect (b o d y_{+} f r a m e_{a}, w h e e l J o i n t 1_{+} f r a m e_{a}, l e f t T r a i l_{+} f r a m e_{b}) \\ connect (p u l s e_{+} y, t o r q u e_{+} t a u) \\ connect (r i g h t T r a i l_{+} f r a m e_{b}, r e v o l u t e_{+} f r a m e_{a}) \\ connect (r e v o l u t e 2_{+} f l a n g e_{a}, r e v o l u t e_{+} f l a n g e_{a}, t o r q u e_{+} s p l i n e) \\ connect (f i x e d T r a n s l a t i o n 5_{+} f r a m e_{a}, r e v o l u t e_{+} f r a m e_{b}) \\ connect (f i x e d T r a n s l a t i o n 5_{+} f r a m e_{b}, f i x e d T r a n s l a t i o n 4_{+} f r a m e_{b}) \\ connect (f i x e d T r a n s l a t i o n 1_{+} f r a m e_{b}, f i x e d T r a n s l a t i o n 4_{+} f r a m e_{b}) \\ connect (w h e e l J o i n t 3_{+} f r a m e_{a}, f i x e d T r a n s l a t i o n 3_{+} f r a m e_{a}) \\ connect (w h e e l J o i n t 2_{+} f r a m e_{a}, f i x e d T r a n s l a t i o n 2_{+} f r a m e_{a}) \\ connect (w h e e l J o i n t 3_{+} f l a n g e_{a}, i n e r t i a 2_{+} s p l i n e_{a}) \\ connect (w h e e l J o i n t 2_{+} f l a n g e_{a}, i n e r t i a 1_{+} s p l i n e_{a}) \\ connect (f i x e d T r a n s l a t i o n 2_{+} f r a m e_{b}, f i x e d T r a n s l a t i o n 3_{+} f r a m e_{b}, f i x e d T r a n s l a t i o n 1_{+} f r a m e_{a}, b o d y 1_{+} f r a m e_{a}) \\ connect (d i f f e r e n t i a l G e a r_{+} f l a n g e_{l e f t}, w h e e l J o i n t 2_{+} f l a n g e_{a}) \\ connect (d i f f e r e n t i a l G e a r_{+} f l a n g e_{r i g h t}, w h e e l J o i n t 3_{+} f l a n g e_{a}) \\ connect (e n g i n e T o r q u e_{+} s p l i n e, d i f f e r e n t i a l G e a r_{+} f l a n g e_{b}) \\ connect (c o n s t a n t T o r q u e_{+} y, e n g i n e T o r q u e_{+} t a u) \\ connect (d y n a m i c_{l o a d_{+} y}, w h e e l J o i n t 1_{+} d y n a m i c L o a d, w h e e l J o i n t 2_{+} d y n a m i c L o a d, w h e e l J o i n t 4_{+} d y n a m i c L o a d, w h e e l J o i n t 3_{+} d y n a m i c L o a d) \\ connect (f i x e d 1_{+} s p l i n e, t o r q u e_{+} s u p p o r t) \\ connect (f i x e d_{+} s p l i n e, e n g i n e T o r q u e_{+} s u p p o r t) \\ connect (r e v o l u t e 2_{+} f r a m e_{b}, f i x e d T r a n s l a t i o n 4_{+} f r a m e_{a}) \\ connect (l e f t T r a i l_{+} f r a m e_{a}, r e v o l u t e 2_{+} f r a m e_{a}) \\ {world . frame}_{b . x} (t) = 0 \\ {world . frame}_{b . y} (t) = 0 \\ {world . frame}_{b . phi} (t) = 0 \\ connect (f r a m e_{b}, f r a m e_{v i s_{+} f r a m e_a}) \\ {world . frame}_{vis . phi} (t) = {world . frame}_{vis . frame_a . phi} (t) \\ {world . frame}_{vis . x_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . x_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . x_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . x_shape . length_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . x_shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . x_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . x_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . x_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . y_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . y_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . y_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . y_shape . length_direction} (t) = [\begin{matrix} 0 \\ 1 \\ 0 \end{matrix}] \\ {world . frame}_{vis . y_shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . y_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . y_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . y_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . z_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . z_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . z_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . z_shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . z_shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . z_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . z_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . z_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ body . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body . frame}_{a . x} (t), {body . frame}_{a . y} (t)) \\ body . v (t) = \frac{d \cdot body . r (t)}{d t} \\ body . phi (t) = {body . frame}_{a . phi} (t) \\ body . w (t) = \frac{d \cdot body . phi (t)}{d t} \\ body . a (t) = \frac{d \cdot body . v (t)}{d t} \\ body . alpha (t) = \frac{d \cdot body . w (t)}{d t} \\ body . f (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body . frame}_{a . fx} (t), {body . frame}_{a . fy} (t)) \\ body . f (t) + {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], body . m \cdot g \cdot {n_{2 d}}_{1}, body . m \cdot g \cdot {n_{2 d}}_{2}) = body . m \cdot body . a (t) \\ body . I \cdot body . alpha (t) = {body . frame}_{a . tau} (t) \\ body . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {body . frame}_{a . x} (t), {body . frame}_{a . y} (t), body . z_{position}) \\ body . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- body . phi (t)), \sin (- body . phi (t)), 0, - \sin (- body . phi (t)), \cos (- body . phi (t)), 0, 0, 0, 1) \\ {body . shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {body . shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {body . shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ body . shape . length (t) = 2 \cdot body . radius \\ body . shape . width (t) = 2 \cdot body . radius \\ body . shape . height (t) = 2 \cdot body . radius \\ body 1. r (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body 1. frame}_{a . x} (t), {body 1. frame}_{a . y} (t)) \\ body 1. v (t) = \frac{d \cdot body 1. r (t)}{d t} \\ body 1. phi (t) = {body 1. frame}_{a . phi} (t) \\ body 1. w (t) = \frac{d \cdot body 1. phi (t)}{d t} \\ body 1. a (t) = \frac{d \cdot body 1. v (t)}{d t} \\ body 1. alpha (t) = \frac{d \cdot body 1. w (t)}{d t} \\ body 1. f (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body 1. frame}_{a . fx} (t), {body 1. frame}_{a . fy} (t)) \\ {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], body 1. m \cdot g \cdot {n_{2 d}}_{1}, body 1. m \cdot g \cdot {n_{2 d}}_{2}) + body 1. f (t) = body 1. m \cdot body 1. a (t) \\ body 1. I \cdot body 1. alpha (t) = {body 1. frame}_{a . tau} (t) \\ body 1. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {body 1. frame}_{a . x} (t), {body 1. frame}_{a . y} (t), body 1. z_{position}) \\ body 1. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- body 1. phi (t)), \sin (- body 1. phi (t)), 0, - \sin (- body 1. phi (t)), \cos (- body 1. phi (t)), 0, 0, 0, 1) \\ {body 1. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {body 1. shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {body 1. shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ body 1. shape . length (t) = 2 \cdot body 1. radius \\ body 1. shape . width (t) = 2 \cdot body 1. radius \\ body 1. shape . height (t) = 2 \cdot body 1. radius \\ body 2. r (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body 2. frame}_{a . x} (t), {body 2. frame}_{a . y} (t)) \\ body 2. v (t) = \frac{d \cdot body 2. r (t)}{d t} \\ body 2. phi (t) = {body 2. frame}_{a . phi} (t) \\ body 2. w (t) = \frac{d \cdot body 2. phi (t)}{d t} \\ body 2. a (t) = \frac{d \cdot body 2. v (t)}{d t} \\ body 2. alpha (t) = \frac{d \cdot body 2. w (t)}{d t} \\ body 2. f (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body 2. frame}_{a . fx} (t), {body 2. frame}_{a . fy} (t)) \\ {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], body 2. m \cdot g \cdot {n_{2 d}}_{1}, body 2. m \cdot g \cdot {n_{2 d}}_{2}) + body 2. f (t) = body 2. m \cdot body 2. a (t) \\ body 2. I \cdot body 2. alpha (t) = {body 2. frame}_{a . tau} (t) \\ body 2. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {body 2. frame}_{a . x} (t), {body 2. frame}_{a . y} (t), body 2. z_{position}) \\ body 2. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- body 2. phi (t)), \sin (- body 2. phi (t)), 0, - \sin (- body 2. phi (t)), \cos (- body 2. phi (t)), 0, 0, 0, 1) \\ {body 2. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {body 2. shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {body 2. shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ body 2. shape . length (t) = 2 \cdot body 2. radius \\ body 2. shape . width (t) = 2 \cdot body 2. radius \\ body 2. shape . height (t) = 2 \cdot body 2. radius \\ wheelJoint 1. e 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos ({wheelJoint 1. frame}_{a . phi} (t)), \sin ({wheelJoint 1. frame}_{a . phi} (t)), - \sin ({wheelJoint 1. frame}_{a . phi} (t)), \cos ({wheelJoint 1. frame}_{a . phi} (t))) \cdot \frac{wheelJoint 1. r}{\sqrt{adjoint (wheelJoint 1. r) \cdot wheelJoint 1. r}} \\ {wheelJoint 1. v}_{vec} (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], \frac{d \cdot {wheelJoint 1. frame}_{a . x} (t)}{d t}, \frac{d \cdot {wheelJoint 1. frame}_{a . y} (t)}{d t}) \\ {wheelJoint 1. phi}_{roll} (t) = {wheelJoint 1. flange}_{a . phi} (t) \\ {wheelJoint 1. w}_{roll} (t) = \frac{d \cdot {wheelJoint 1. phi}_{roll} (t)}{d t} \\ {wheelJoint 1. v}_{long} (t) = dot ({wheelJoint 1. v}_{vec} (t), wheelJoint 1. e 0 (t)) \\ {wheelJoint 1. v}_{lat} (t) = {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. v}_{vec}_2 (t) - {wheelJoint 1. e 0}_{2} (t) \cdot {wheelJoint 1. v}_{vec}_1 (t) \\ {wheelJoint 1. v}_{slip_lat} (t) = {wheelJoint 1. v}_{lat} (t) \\ {wheelJoint 1. v}_{slip_long} (t) = {wheelJoint 1. v}_{long} (t) - wheelJoint 1. radius \cdot {wheelJoint 1. w}_{roll} (t) \\ {wheelJoint 1. v}_{slip} (t) = 0.0001 + \sqrt{{({wheelJoint 1. v}_{slip_long} (t))}^{2} + {({wheelJoint 1. v}_{slip_lat} (t))}^{2}} \\ 0 = {wheelJoint 1. flange}_{a . tau} (t) + wheelJoint 1. radius \cdot {wheelJoint 1. f}_{long} (t) \\ {wheelJoint 1. frame}_{a . tau} (t) = 0 \\ wheelJoint 1. vAdhesion (t) = \max (wheelJoint 1. {vAdhesion}_{\min}, wheelJoint 1. sAdhesion \cdot | wheelJoint 1. radius \cdot {wheelJoint 1. w}_{roll} (t) |) \\ wheelJoint 1. vSlide (t) = \max (wheelJoint 1. {vSlide}_{\min}, wheelJoint 1. sSlide \cdot | wheelJoint 1. radius \cdot {wheelJoint 1. w}_{roll} (t) |) \\ wheelJoint 1. fN (t) = \max (0, wheelJoint 1. N + wheelJoint 1. dynamicLoad (t)) \\ wheelJoint 1. f (t) = wheelJoint 1. fN (t) \cdot {limit}_{S_t r i p l e} (wheelJoint 1. vAdhesion (t), wheelJoint 1. vSlide (t), wheelJoint 1. {mu}_{A}, wheelJoint 1. {mu}_{S}, {wheelJoint 1. v}_{slip} (t)) \\ {wheelJoint 1. f}_{long} (t) = \frac{{wheelJoint 1. v}_{slip_long} (t) \cdot wheelJoint 1. f (t)}{{wheelJoint 1. v}_{slip} (t)} \\ {wheelJoint 1. f}_{lat} (t) = \frac{{wheelJoint 1. v}_{slip_lat} (t) \cdot wheelJoint 1. f (t)}{{wheelJoint 1. v}_{slip} (t)} \\ {wheelJoint 1. f}_{long} (t) = {wheelJoint 1. frame}_{a . fx} (t) \cdot {wheelJoint 1. e 0}_{1} (t) + {wheelJoint 1. e 0}_{2} (t) \cdot {wheelJoint 1. frame}_{a . fy} (t) \\ {wheelJoint 1. f}_{lat} (t) = - {wheelJoint 1. frame}_{a . fx} (t) \cdot {wheelJoint 1. e 0}_{2} (t) + {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. frame}_{a . fy} (t) \\ {wheelJoint 1. tire}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 1. frame}_{a . x} (t), {wheelJoint 1. frame}_{a . y} (t), wheelJoint 1. z_{position}) \\ {wheelJoint 1. tire}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {wheelJoint 1. tire}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0.03 \cdot {wheelJoint 1. e 0}_{2} (t), - 0.03 \cdot {wheelJoint 1. e 0}_{1} (t), - 0.0) \\ {wheelJoint 1. tire}_{shape . length_direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {wheelJoint 1. e 0}_{2} (t), {wheelJoint 1. e 0}_{1} (t), 0) \\ {wheelJoint 1. tire}_{shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 1. tire}_{shape . length} (t) = wheelJoint 1. {wheel}_{width} \\ {wheelJoint 1. tire}_{shape . width} (t) = 2 \cdot wheelJoint 1. radius \\ {wheelJoint 1. tire}_{shape . height} (t) = 2 \cdot wheelJoint 1. radius \\ {wheelJoint 1. rim 1}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 1. frame}_{a . x} (t), {wheelJoint 1. frame}_{a . y} (t), wheelJoint 1. z_{position}) \\ {wheelJoint 1. rim 1}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 1. e 0}_{2} {(t)}^{2} + (1 - {wheelJoint 1. e 0}_{2} {(t)}^{2}) \cdot \cos (- {wheelJoint 1. phi}_{roll} (t)), - {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) + {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) \cdot \cos (- {wheelJoint 1. phi}_{roll} (t)), {wheelJoint 1. e 0}_{1} (t) \cdot \sin (- {wheelJoint 1. phi}_{roll} (t)), - {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) + {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) \cdot \cos (- {wheelJoint 1. phi}_{roll} (t)), {wheelJoint 1. e 0}_{1} {(t)}^{2} + (1 - {wheelJoint 1. e 0}_{1} {(t)}^{2}) \cdot \cos (- {wheelJoint 1. phi}_{roll} (t)), {wheelJoint 1. e 0}_{2} (t) \cdot \sin (- {wheelJoint 1. phi}_{roll} (t)), - {wheelJoint 1. e 0}_{1} (t) \cdot \sin (- {wheelJoint 1. phi}_{roll} (t)), - {wheelJoint 1. e 0}_{2} (t) \cdot \sin (- {wheelJoint 1. phi}_{roll} (t)), \cos (- {wheelJoint 1. phi}_{roll} (t))) \\ {wheelJoint 1. rim 1}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 1. radius) \\ {wheelJoint 1. rim 1}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 1. rim 1}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 1. rim 1}_{shape . length} (t) = 2 \cdot wheelJoint 1. radius \\ {wheelJoint 1. rim 1}_{shape . width} (t) = wheelJoint 1. {rim}_{diameter} \\ {wheelJoint 1. rim 1}_{shape . height} (t) = wheelJoint 1. {rim}_{diameter} \\ {wheelJoint 1. rim 2}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 1. frame}_{a . x} (t), {wheelJoint 1. frame}_{a . y} (t), wheelJoint 1. z_{position}) \\ {wheelJoint 1. rim 2}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 1. e 0}_{2} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot (1 - {wheelJoint 1. e 0}_{2} {(t)}^{2}), - {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t), \sin (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{1} (t), - {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{1} (t) \cdot {wheelJoint 1. e 0}_{2} (t), {wheelJoint 1. e 0}_{1} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot (1 - {wheelJoint 1. e 0}_{1} {(t)}^{2}), \sin (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{2} (t), - \sin (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{1} (t), - \sin (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t)) \cdot {wheelJoint 1. e 0}_{2} (t), \cos (1.570796326794895 - {wheelJoint 1. phi}_{roll} (t))) \\ {wheelJoint 1. rim 2}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 1. radius) \\ {wheelJoint 1. rim 2}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 1. rim 2}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 1. rim 2}_{shape . length} (t) = 2 \cdot wheelJoint 1. radius \\ {wheelJoint 1. rim 2}_{shape . width} (t) = wheelJoint 1. {rim}_{diameter} \\ {wheelJoint 1. rim 2}_{shape . height} (t) = wheelJoint 1. {rim}_{diameter} \\ wheelJoint 2. e 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos ({wheelJoint 2. frame}_{a . phi} (t)), \sin ({wheelJoint 2. frame}_{a . phi} (t)), - \sin ({wheelJoint 2. frame}_{a . phi} (t)), \cos ({wheelJoint 2. frame}_{a . phi} (t))) \cdot \frac{wheelJoint 2. r}{\sqrt{adjoint (wheelJoint 2. r) \cdot wheelJoint 2. r}} \\ {wheelJoint 2. v}_{vec} (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], \frac{d \cdot {wheelJoint 2. frame}_{a . x} (t)}{d t}, \frac{d \cdot {wheelJoint 2. frame}_{a . y} (t)}{d t}) \\ {wheelJoint 2. phi}_{roll} (t) = {wheelJoint 2. flange}_{a . phi} (t) \\ {wheelJoint 2. w}_{roll} (t) = \frac{d \cdot {wheelJoint 2. phi}_{roll} (t)}{d t} \\ {wheelJoint 2. v}_{long} (t) = dot ({wheelJoint 2. v}_{vec} (t), wheelJoint 2. e 0 (t)) \\ {wheelJoint 2. v}_{lat} (t) = - {wheelJoint 2. v}_{vec}_1 (t) \cdot {wheelJoint 2. e 0}_{2} (t) + {wheelJoint 2. v}_{vec}_2 (t) \cdot {wheelJoint 2. e 0}_{1} (t) \\ {wheelJoint 2. v}_{slip_lat} (t) = {wheelJoint 2. v}_{lat} (t) \\ {wheelJoint 2. v}_{slip_long} (t) = {wheelJoint 2. v}_{long} (t) - wheelJoint 2. radius \cdot {wheelJoint 2. w}_{roll} (t) \\ {wheelJoint 2. v}_{slip} (t) = 0.0001 + \sqrt{{({wheelJoint 2. v}_{slip_lat} (t))}^{2} + {({wheelJoint 2. v}_{slip_long} (t))}^{2}} \\ 0 = {wheelJoint 2. flange}_{a . tau} (t) + wheelJoint 2. radius \cdot {wheelJoint 2. f}_{long} (t) \\ {wheelJoint 2. frame}_{a . tau} (t) = 0 \\ wheelJoint 2. vAdhesion (t) = \max (wheelJoint 2. {vAdhesion}_{\min}, wheelJoint 2. sAdhesion \cdot | wheelJoint 2. radius \cdot {wheelJoint 2. w}_{roll} (t) |) \\ wheelJoint 2. vSlide (t) = \max (wheelJoint 2. {vSlide}_{\min}, wheelJoint 2. sSlide \cdot | wheelJoint 2. radius \cdot {wheelJoint 2. w}_{roll} (t) |) \\ wheelJoint 2. fN (t) = \max (0, wheelJoint 2. N + wheelJoint 2. dynamicLoad (t)) \\ wheelJoint 2. f (t) = wheelJoint 2. fN (t) \cdot {limit}_{S_t r i p l e} (wheelJoint 2. vAdhesion (t), wheelJoint 2. vSlide (t), wheelJoint 2. {mu}_{A}, wheelJoint 2. {mu}_{S}, {wheelJoint 2. v}_{slip} (t)) \\ {wheelJoint 2. f}_{long} (t) = \frac{wheelJoint 2. f (t) \cdot {wheelJoint 2. v}_{slip_long} (t)}{{wheelJoint 2. v}_{slip} (t)} \\ {wheelJoint 2. f}_{lat} (t) = \frac{wheelJoint 2. f (t) \cdot {wheelJoint 2. v}_{slip_lat} (t)}{{wheelJoint 2. v}_{slip} (t)} \\ {wheelJoint 2. f}_{long} (t) = {wheelJoint 2. frame}_{a . fx} (t) \cdot {wheelJoint 2. e 0}_{1} (t) + {wheelJoint 2. frame}_{a . fy} (t) \cdot {wheelJoint 2. e 0}_{2} (t) \\ {wheelJoint 2. f}_{lat} (t) = - {wheelJoint 2. frame}_{a . fx} (t) \cdot {wheelJoint 2. e 0}_{2} (t) + {wheelJoint 2. frame}_{a . fy} (t) \cdot {wheelJoint 2. e 0}_{1} (t) \\ {wheelJoint 2. tire}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 2. frame}_{a . x} (t), {wheelJoint 2. frame}_{a . y} (t), wheelJoint 2. z_{position}) \\ {wheelJoint 2. tire}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {wheelJoint 2. tire}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0.03 \cdot {wheelJoint 2. e 0}_{2} (t), - 0.03 \cdot {wheelJoint 2. e 0}_{1} (t), - 0.0) \\ {wheelJoint 2. tire}_{shape . length_direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {wheelJoint 2. e 0}_{2} (t), {wheelJoint 2. e 0}_{1} (t), 0) \\ {wheelJoint 2. tire}_{shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 2. tire}_{shape . length} (t) = wheelJoint 2. {wheel}_{width} \\ {wheelJoint 2. tire}_{shape . width} (t) = 2 \cdot wheelJoint 2. radius \\ {wheelJoint 2. tire}_{shape . height} (t) = 2 \cdot wheelJoint 2. radius \\ {wheelJoint 2. rim 1}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 2. frame}_{a . x} (t), {wheelJoint 2. frame}_{a . y} (t), wheelJoint 2. z_{position}) \\ {wheelJoint 2. rim 1}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 2. e 0}_{2} {(t)}^{2} + \cos (- {wheelJoint 2. phi}_{roll} (t)) \cdot (1 - {wheelJoint 2. e 0}_{2} {(t)}^{2}), - {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t) + \cos (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t), \sin (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t), - {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t) + \cos (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t), {wheelJoint 2. e 0}_{1} {(t)}^{2} + \cos (- {wheelJoint 2. phi}_{roll} (t)) \cdot (1 - {wheelJoint 2. e 0}_{1} {(t)}^{2}), \sin (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{2} (t), - \sin (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t), - \sin (- {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{2} (t), \cos (- {wheelJoint 2. phi}_{roll} (t))) \\ {wheelJoint 2. rim 1}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 2. radius) \\ {wheelJoint 2. rim 1}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 2. rim 1}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 2. rim 1}_{shape . length} (t) = 2 \cdot wheelJoint 2. radius \\ {wheelJoint 2. rim 1}_{shape . width} (t) = wheelJoint 2. {rim}_{diameter} \\ {wheelJoint 2. rim 1}_{shape . height} (t) = wheelJoint 2. {rim}_{diameter} \\ {wheelJoint 2. rim 2}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 2. frame}_{a . x} (t), {wheelJoint 2. frame}_{a . y} (t), wheelJoint 2. z_{position}) \\ {wheelJoint 2. rim 2}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 2. e 0}_{2} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot (1 - {wheelJoint 2. e 0}_{2} {(t)}^{2}), - {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t), \sin (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t), - {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t) \cdot {wheelJoint 2. e 0}_{2} (t), {wheelJoint 2. e 0}_{1} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot (1 - {wheelJoint 2. e 0}_{1} {(t)}^{2}), \sin (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{2} (t), - \sin (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{1} (t), - \sin (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t)) \cdot {wheelJoint 2. e 0}_{2} (t), \cos (1.570796326794895 - {wheelJoint 2. phi}_{roll} (t))) \\ {wheelJoint 2. rim 2}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 2. radius) \\ {wheelJoint 2. rim 2}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 2. rim 2}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 2. rim 2}_{shape . length} (t) = 2 \cdot wheelJoint 2. radius \\ {wheelJoint 2. rim 2}_{shape . width} (t) = wheelJoint 2. {rim}_{diameter} \\ {wheelJoint 2. rim 2}_{shape . height} (t) = wheelJoint 2. {rim}_{diameter} \\ wheelJoint 3. e 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos ({wheelJoint 3. frame}_{a . phi} (t)), \sin ({wheelJoint 3. frame}_{a . phi} (t)), - \sin ({wheelJoint 3. frame}_{a . phi} (t)), \cos ({wheelJoint 3. frame}_{a . phi} (t))) \cdot \frac{wheelJoint 3. r}{\sqrt{adjoint (wheelJoint 3. r) \cdot wheelJoint 3. r}} \\ {wheelJoint 3. v}_{vec} (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], \frac{d \cdot {wheelJoint 3. frame}_{a . x} (t)}{d t}, \frac{d \cdot {wheelJoint 3. frame}_{a . y} (t)}{d t}) \\ {wheelJoint 3. phi}_{roll} (t) = {wheelJoint 3. flange}_{a . phi} (t) \\ {wheelJoint 3. w}_{roll} (t) = \frac{d \cdot {wheelJoint 3. phi}_{roll} (t)}{d t} \\ {wheelJoint 3. v}_{long} (t) = dot ({wheelJoint 3. v}_{vec} (t), wheelJoint 3. e 0 (t)) \\ {wheelJoint 3. v}_{lat} (t) = {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. v}_{vec}_2 (t) - {wheelJoint 3. e 0}_{2} (t) \cdot {wheelJoint 3. v}_{vec}_1 (t) \\ {wheelJoint 3. v}_{slip_lat} (t) = {wheelJoint 3. v}_{lat} (t) \\ {wheelJoint 3. v}_{slip_long} (t) = {wheelJoint 3. v}_{long} (t) - wheelJoint 3. radius \cdot {wheelJoint 3. w}_{roll} (t) \\ {wheelJoint 3. v}_{slip} (t) = 0.0001 + \sqrt{{({wheelJoint 3. v}_{slip_long} (t))}^{2} + {({wheelJoint 3. v}_{slip_lat} (t))}^{2}} \\ 0 = {wheelJoint 3. flange}_{a . tau} (t) + wheelJoint 3. radius \cdot {wheelJoint 3. f}_{long} (t) \\ {wheelJoint 3. frame}_{a . tau} (t) = 0 \\ wheelJoint 3. vAdhesion (t) = \max (wheelJoint 3. {vAdhesion}_{\min}, wheelJoint 3. sAdhesion \cdot | wheelJoint 3. radius \cdot {wheelJoint 3. w}_{roll} (t) |) \\ wheelJoint 3. vSlide (t) = \max (wheelJoint 3. {vSlide}_{\min}, wheelJoint 3. sSlide \cdot | wheelJoint 3. radius \cdot {wheelJoint 3. w}_{roll} (t) |) \\ wheelJoint 3. fN (t) = \max (0, wheelJoint 3. N + wheelJoint 3. dynamicLoad (t)) \\ wheelJoint 3. f (t) = {limit}_{S_t r i p l e} (wheelJoint 3. vAdhesion (t), wheelJoint 3. vSlide (t), wheelJoint 3. {mu}_{A}, wheelJoint 3. {mu}_{S}, {wheelJoint 3. v}_{slip} (t)) \cdot wheelJoint 3. fN (t) \\ {wheelJoint 3. f}_{long} (t) = \frac{wheelJoint 3. f (t) \cdot {wheelJoint 3. v}_{slip_long} (t)}{{wheelJoint 3. v}_{slip} (t)} \\ {wheelJoint 3. f}_{lat} (t) = \frac{wheelJoint 3. f (t) \cdot {wheelJoint 3. v}_{slip_lat} (t)}{{wheelJoint 3. v}_{slip} (t)} \\ {wheelJoint 3. f}_{long} (t) = {wheelJoint 3. frame}_{a . fx} (t) \cdot {wheelJoint 3. e 0}_{1} (t) + {wheelJoint 3. e 0}_{2} (t) \cdot {wheelJoint 3. frame}_{a . fy} (t) \\ {wheelJoint 3. f}_{lat} (t) = - {wheelJoint 3. frame}_{a . fx} (t) \cdot {wheelJoint 3. e 0}_{2} (t) + {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. frame}_{a . fy} (t) \\ {wheelJoint 3. tire}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 3. frame}_{a . x} (t), {wheelJoint 3. frame}_{a . y} (t), wheelJoint 3. z_{position}) \\ {wheelJoint 3. tire}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {wheelJoint 3. tire}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0.03 \cdot {wheelJoint 3. e 0}_{2} (t), - 0.03 \cdot {wheelJoint 3. e 0}_{1} (t), - 0.0) \\ {wheelJoint 3. tire}_{shape . length_direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {wheelJoint 3. e 0}_{2} (t), {wheelJoint 3. e 0}_{1} (t), 0) \\ {wheelJoint 3. tire}_{shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 3. tire}_{shape . length} (t) = wheelJoint 3. {wheel}_{width} \\ {wheelJoint 3. tire}_{shape . width} (t) = 2 \cdot wheelJoint 3. radius \\ {wheelJoint 3. tire}_{shape . height} (t) = 2 \cdot wheelJoint 3. radius \\ {wheelJoint 3. rim 1}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 3. frame}_{a . x} (t), {wheelJoint 3. frame}_{a . y} (t), wheelJoint 3. z_{position}) \\ {wheelJoint 3. rim 1}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 3. e 0}_{2} {(t)}^{2} + \cos (- {wheelJoint 3. phi}_{roll} (t)) \cdot (1 - {wheelJoint 3. e 0}_{2} {(t)}^{2}), - {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) + \cos (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t), \sin (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t), - {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) + \cos (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t), {wheelJoint 3. e 0}_{1} {(t)}^{2} + \cos (- {wheelJoint 3. phi}_{roll} (t)) \cdot (1 - {wheelJoint 3. e 0}_{1} {(t)}^{2}), \sin (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{2} (t), - \sin (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t), - \sin (- {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{2} (t), \cos (- {wheelJoint 3. phi}_{roll} (t))) \\ {wheelJoint 3. rim 1}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 3. radius) \\ {wheelJoint 3. rim 1}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 3. rim 1}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 3. rim 1}_{shape . length} (t) = 2 \cdot wheelJoint 3. radius \\ {wheelJoint 3. rim 1}_{shape . width} (t) = wheelJoint 3. {rim}_{diameter} \\ {wheelJoint 3. rim 1}_{shape . height} (t) = wheelJoint 3. {rim}_{diameter} \\ {wheelJoint 3. rim 2}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 3. frame}_{a . x} (t), {wheelJoint 3. frame}_{a . y} (t), wheelJoint 3. z_{position}) \\ {wheelJoint 3. rim 2}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 3. e 0}_{2} {(t)}^{2} + (1 - {wheelJoint 3. e 0}_{2} {(t)}^{2}) \cdot \cos (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)), - {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) + {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) \cdot \cos (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)), \sin (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t), - {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) + {wheelJoint 3. e 0}_{1} (t) \cdot {wheelJoint 3. e 0}_{2} (t) \cdot \cos (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)), {wheelJoint 3. e 0}_{1} {(t)}^{2} + (1 - {wheelJoint 3. e 0}_{1} {(t)}^{2}) \cdot \cos (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)), \sin (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{2} (t), - \sin (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{1} (t), - \sin (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t)) \cdot {wheelJoint 3. e 0}_{2} (t), \cos (1.570796326794895 - {wheelJoint 3. phi}_{roll} (t))) \\ {wheelJoint 3. rim 2}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 3. radius) \\ {wheelJoint 3. rim 2}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 3. rim 2}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 3. rim 2}_{shape . length} (t) = 2 \cdot wheelJoint 3. radius \\ {wheelJoint 3. rim 2}_{shape . width} (t) = wheelJoint 3. {rim}_{diameter} \\ {wheelJoint 3. rim 2}_{shape . height} (t) = wheelJoint 3. {rim}_{diameter} \\ wheelJoint 4. e 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos ({wheelJoint 4. frame}_{a . phi} (t)), \sin ({wheelJoint 4. frame}_{a . phi} (t)), - \sin ({wheelJoint 4. frame}_{a . phi} (t)), \cos ({wheelJoint 4. frame}_{a . phi} (t))) \cdot \frac{wheelJoint 4. r}{\sqrt{adjoint (wheelJoint 4. r) \cdot wheelJoint 4. r}} \\ {wheelJoint 4. v}_{vec} (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], \frac{d \cdot {wheelJoint 4. frame}_{a . x} (t)}{d t}, \frac{d \cdot {wheelJoint 4. frame}_{a . y} (t)}{d t}) \\ {wheelJoint 4. phi}_{roll} (t) = {wheelJoint 4. flange}_{a . phi} (t) \\ {wheelJoint 4. w}_{roll} (t) = \frac{d \cdot {wheelJoint 4. phi}_{roll} (t)}{d t} \\ {wheelJoint 4. v}_{long} (t) = dot ({wheelJoint 4. v}_{vec} (t), wheelJoint 4. e 0 (t)) \\ {wheelJoint 4. v}_{lat} (t) = - {wheelJoint 4. v}_{vec}_1 (t) \cdot {wheelJoint 4. e 0}_{2} (t) + {wheelJoint 4. v}_{vec}_2 (t) \cdot {wheelJoint 4. e 0}_{1} (t) \\ {wheelJoint 4. v}_{slip_lat} (t) = {wheelJoint 4. v}_{lat} (t) \\ {wheelJoint 4. v}_{slip_long} (t) = {wheelJoint 4. v}_{long} (t) - wheelJoint 4. radius \cdot {wheelJoint 4. w}_{roll} (t) \\ {wheelJoint 4. v}_{slip} (t) = 0.0001 + \sqrt{{({wheelJoint 4. v}_{slip_lat} (t))}^{2} + {({wheelJoint 4. v}_{slip_long} (t))}^{2}} \\ 0 = {wheelJoint 4. flange}_{a . tau} (t) + wheelJoint 4. radius \cdot {wheelJoint 4. f}_{long} (t) \\ {wheelJoint 4. frame}_{a . tau} (t) = 0 \\ wheelJoint 4. vAdhesion (t) = \max (wheelJoint 4. {vAdhesion}_{\min}, wheelJoint 4. sAdhesion \cdot | wheelJoint 4. radius \cdot {wheelJoint 4. w}_{roll} (t) |) \\ wheelJoint 4. vSlide (t) = \max (wheelJoint 4. {vSlide}_{\min}, wheelJoint 4. sSlide \cdot | wheelJoint 4. radius \cdot {wheelJoint 4. w}_{roll} (t) |) \\ wheelJoint 4. fN (t) = \max (0, wheelJoint 4. N + wheelJoint 4. dynamicLoad (t)) \\ wheelJoint 4. f (t) = {limit}_{S_t r i p l e} (wheelJoint 4. vAdhesion (t), wheelJoint 4. vSlide (t), wheelJoint 4. {mu}_{A}, wheelJoint 4. {mu}_{S}, {wheelJoint 4. v}_{slip} (t)) \cdot wheelJoint 4. fN (t) \\ {wheelJoint 4. f}_{long} (t) = \frac{{wheelJoint 4. v}_{slip_long} (t) \cdot wheelJoint 4. f (t)}{{wheelJoint 4. v}_{slip} (t)} \\ {wheelJoint 4. f}_{lat} (t) = \frac{{wheelJoint 4. v}_{slip_lat} (t) \cdot wheelJoint 4. f (t)}{{wheelJoint 4. v}_{slip} (t)} \\ {wheelJoint 4. f}_{long} (t) = {wheelJoint 4. frame}_{a . fy} (t) \cdot {wheelJoint 4. e 0}_{2} (t) + {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. frame}_{a . fx} (t) \\ {wheelJoint 4. f}_{lat} (t) = {wheelJoint 4. frame}_{a . fy} (t) \cdot {wheelJoint 4. e 0}_{1} (t) - {wheelJoint 4. e 0}_{2} (t) \cdot {wheelJoint 4. frame}_{a . fx} (t) \\ {wheelJoint 4. tire}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 4. frame}_{a . x} (t), {wheelJoint 4. frame}_{a . y} (t), wheelJoint 4. z_{position}) \\ {wheelJoint 4. tire}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {wheelJoint 4. tire}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0.03 \cdot {wheelJoint 4. e 0}_{2} (t), - 0.03 \cdot {wheelJoint 4. e 0}_{1} (t), - 0.0) \\ {wheelJoint 4. tire}_{shape . length_direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {wheelJoint 4. e 0}_{2} (t), {wheelJoint 4. e 0}_{1} (t), 0) \\ {wheelJoint 4. tire}_{shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 4. tire}_{shape . length} (t) = wheelJoint 4. {wheel}_{width} \\ {wheelJoint 4. tire}_{shape . width} (t) = 2 \cdot wheelJoint 4. radius \\ {wheelJoint 4. tire}_{shape . height} (t) = 2 \cdot wheelJoint 4. radius \\ {wheelJoint 4. rim 1}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 4. frame}_{a . x} (t), {wheelJoint 4. frame}_{a . y} (t), wheelJoint 4. z_{position}) \\ {wheelJoint 4. rim 1}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 4. e 0}_{2} {(t)}^{2} + \cos (- {wheelJoint 4. phi}_{roll} (t)) \cdot (1 - {wheelJoint 4. e 0}_{2} {(t)}^{2}), - {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t) + \cos (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t), \sin (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t), - {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t) + \cos (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t), {wheelJoint 4. e 0}_{1} {(t)}^{2} + \cos (- {wheelJoint 4. phi}_{roll} (t)) \cdot (1 - {wheelJoint 4. e 0}_{1} {(t)}^{2}), \sin (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{2} (t), - \sin (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t), - \sin (- {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{2} (t), \cos (- {wheelJoint 4. phi}_{roll} (t))) \\ {wheelJoint 4. rim 1}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 4. radius) \\ {wheelJoint 4. rim 1}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 4. rim 1}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 4. rim 1}_{shape . length} (t) = 2 \cdot wheelJoint 4. radius \\ {wheelJoint 4. rim 1}_{shape . width} (t) = wheelJoint 4. {rim}_{diameter} \\ {wheelJoint 4. rim 1}_{shape . height} (t) = wheelJoint 4. {rim}_{diameter} \\ {wheelJoint 4. rim 2}_{shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {wheelJoint 4. frame}_{a . x} (t), {wheelJoint 4. frame}_{a . y} (t), wheelJoint 4. z_{position}) \\ {wheelJoint 4. rim 2}_{shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], {wheelJoint 4. e 0}_{2} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot (1 - {wheelJoint 4. e 0}_{2} {(t)}^{2}), - {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t), \sin (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t), - {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t) + \cos (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t) \cdot {wheelJoint 4. e 0}_{2} (t), {wheelJoint 4. e 0}_{1} {(t)}^{2} + \cos (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot (1 - {wheelJoint 4. e 0}_{1} {(t)}^{2}), \sin (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{2} (t), - \sin (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{1} (t), - \sin (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t)) \cdot {wheelJoint 4. e 0}_{2} (t), \cos (1.570796326794895 - {wheelJoint 4. phi}_{roll} (t))) \\ {wheelJoint 4. rim 2}_{shape . r_shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - wheelJoint 4. radius) \\ {wheelJoint 4. rim 2}_{shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {wheelJoint 4. rim 2}_{shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {wheelJoint 4. rim 2}_{shape . length} (t) = 2 \cdot wheelJoint 4. radius \\ {wheelJoint 4. rim 2}_{shape . width} (t) = wheelJoint 4. {rim}_{diameter} \\ {wheelJoint 4. rim 2}_{shape . height} (t) = wheelJoint 4. {rim}_{diameter} \\ connect (i d e a l_{p l a n e t a r y_{+} s u n}, f l a n g e_{l e f t}) \\ connect (i d e a l_{p l a n e t a r y_{+} c a r r i e r}, f l a n g e_{r i g h t}) \\ connect (i d e a l_{p l a n e t a r y_{+} r i n g}, f l a n g e_{b}) \\ (1 + differentialGear . {ideal}_{planetary . ratio}) \cdot {differentialGear . ideal}_{planetary . carrier . phi} (t) = {differentialGear . ideal}_{planetary . sun . phi} (t) + differentialGear . {ideal}_{planetary . ratio} \cdot {differentialGear . ideal}_{planetary . ring . phi} (t) \\ {differentialGear . ideal}_{planetary . ring . tau} (t) = differentialGear . {ideal}_{planetary . ratio} \cdot {differentialGear . ideal}_{planetary . sun . tau} (t) \\ {differentialGear . ideal}_{planetary . carrier . tau} (t) = (- 1 - differentialGear . {ideal}_{planetary . ratio}) \cdot {differentialGear . ideal}_{planetary . sun . tau} (t) \\ pulse . y (t) = ifelse (pulse . {start}_{time} < t, pulse . offset + pulse . amplitude \cdot (1 + 4 \cdot ⌊ pulse . frequency \cdot (- pulse . {start}_{time} + t) ⌋ - 2 \cdot ⌊ 2 \cdot pulse . frequency \cdot (- pulse . {start}_{time} + t) ⌋), pulse . offset) \\ torque . support . phi (t) = {torque . phi}_{support} (t) \\ torque . support . tau (t) = - torque . spline . tau (t) \\ torque . phi (t) = - {torque . phi}_{support} (t) + torque . spline . phi (t) \\ torque . spline . tau (t) = - torque . tau (t) \\ fixed . spline . phi (t) = fixed . phi 0 \\ constantTorque . y (t) = constantTorque . k \\ engineTorque . support . phi (t) = {engineTorque . phi}_{support} (t) \\ engineTorque . support . tau (t) = - engineTorque . spline . tau (t) \\ engineTorque . phi (t) = - {engineTorque . phi}_{support} (t) + engineTorque . spline . phi (t) \\ engineTorque . spline . tau (t) = - engineTorque . tau (t) \\ inertia . phi (t) = {inertia . spline}_{a . phi} (t) \\ inertia . phi (t) = {inertia . spline}_{b . phi} (t) \\ \frac{d \cdot inertia . phi (t)}{d t} = inertia . w (t) \\ \frac{d \cdot inertia . w (t)}{d t} = inertia . a (t) \\ inertia . J \cdot inertia . a (t) = {inertia . spline}_{a . tau} (t) + {inertia . spline}_{b . tau} (t) \\ inertia 1. phi (t) = {inertia 1. spline}_{a . phi} (t) \\ inertia 1. phi (t) = {inertia 1. spline}_{b . phi} (t) \\ \frac{d \cdot inertia 1. phi (t)}{d t} = inertia 1. w (t) \\ \frac{d \cdot inertia 1. w (t)}{d t} = inertia 1. a (t) \\ inertia 1. J \cdot inertia 1. a (t) = {inertia 1. spline}_{b . tau} (t) + {inertia 1. spline}_{a . tau} (t) \\ inertia 2. phi (t) = {inertia 2. spline}_{a . phi} (t) \\ inertia 2. phi (t) = {inertia 2. spline}_{b . phi} (t) \\ \frac{d \cdot inertia 2. phi (t)}{d t} = inertia 2. w (t) \\ \frac{d \cdot inertia 2. w (t)}{d t} = inertia 2. a (t) \\ inertia 2. J \cdot inertia 2. a (t) = {inertia 2. spline}_{a . tau} (t) + {inertia 2. spline}_{b . tau} (t) \\ inertia 3. phi (t) = {inertia 3. spline}_{a . phi} (t) \\ inertia 3. phi (t) = {inertia 3. spline}_{b . phi} (t) \\ \frac{d \cdot inertia 3. phi (t)}{d t} = inertia 3. w (t) \\ \frac{d \cdot inertia 3. w (t)}{d t} = inertia 3. a (t) \\ inertia 3. J \cdot inertia 3. a (t) = {inertia 3. spline}_{b . tau} (t) + {inertia 3. spline}_{a . tau} (t) \\ fixedTranslation 1. phi (t) = {fixedTranslation 1. frame}_{a . phi} (t) \\ fixedTranslation 1. w (t) = \frac{d \cdot fixedTranslation 1. phi (t)}{d t} \\ fixedTranslation 1. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (fixedTranslation 1. phi (t)), \sin (fixedTranslation 1. phi (t)), - \sin (fixedTranslation 1. phi (t)), \cos (fixedTranslation 1. phi (t))) \cdot fixedTranslation 1. r \\ fixedTranslation 1. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {fixedTranslation 1. frame}_{b . x} (t) - {fixedTranslation 1. frame}_{a . x} (t), - {fixedTranslation 1. frame}_{a . y} (t) + {fixedTranslation 1. frame}_{b . y} (t)) \\ {fixedTranslation 1. frame}_{a . phi} (t) = {fixedTranslation 1. frame}_{b . phi} (t) \\ {fixedTranslation 1. frame}_{a . fx} (t) + {fixedTranslation 1. frame}_{b . fx} (t) = 0 \\ {fixedTranslation 1. frame}_{a . fy} (t) + {fixedTranslation 1. frame}_{b . fy} (t) = 0 \\ {fixedTranslation 1. frame}_{a . tau} (t) + {fixedTranslation 1. frame}_{b . tau} (t) - {fixedTranslation 1. frame}_{b . fx} (t) \cdot {fixedTranslation 1. r 0}_{2} (t) + {fixedTranslation 1. r 0}_{1} (t) \cdot {fixedTranslation 1. frame}_{b . fy} (t) = 0 \\ fixedTranslation 1. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {fixedTranslation 1. frame}_{a . x} (t), {fixedTranslation 1. frame}_{a . y} (t), fixedTranslation 1. z_{position}) \\ fixedTranslation 1. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {fixedTranslation 1. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {fixedTranslation 1. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{fixedTranslation 1. r 0}_{1} (t)}{fixedTranslation 1. l}, \frac{{fixedTranslation 1. r 0}_{2} (t)}{fixedTranslation 1. l}, 0) \\ {fixedTranslation 1. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ fixedTranslation 1. shape . length (t) = fixedTranslation 1. l \\ fixedTranslation 1. shape . width (t) = 2 \cdot fixedTranslation 1. radius \\ fixedTranslation 1. shape . height (t) = 2 \cdot fixedTranslation 1. radius \\ fixedTranslation 2. phi (t) = {fixedTranslation 2. frame}_{a . phi} (t) \\ fixedTranslation 2. w (t) = \frac{d \cdot fixedTranslation 2. phi (t)}{d t} \\ fixedTranslation 2. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (fixedTranslation 2. phi (t)), \sin (fixedTranslation 2. phi (t)), - \sin (fixedTranslation 2. phi (t)), \cos (fixedTranslation 2. phi (t))) \cdot fixedTranslation 2. r \\ fixedTranslation 2. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {fixedTranslation 2. frame}_{b . x} (t) - {fixedTranslation 2. frame}_{a . x} (t), {fixedTranslation 2. frame}_{b . y} (t) - {fixedTranslation 2. frame}_{a . y} (t)) \\ {fixedTranslation 2. frame}_{a . phi} (t) = {fixedTranslation 2. frame}_{b . phi} (t) \\ {fixedTranslation 2. frame}_{b . fx} (t) + {fixedTranslation 2. frame}_{a . fx} (t) = 0 \\ {fixedTranslation 2. frame}_{b . fy} (t) + {fixedTranslation 2. frame}_{a . fy} (t) = 0 \\ {fixedTranslation 2. frame}_{a . tau} (t) + {fixedTranslation 2. frame}_{b . tau} (t) - {fixedTranslation 2. frame}_{b . fx} (t) \cdot {fixedTranslation 2. r 0}_{2} (t) + {fixedTranslation 2. frame}_{b . fy} (t) \cdot {fixedTranslation 2. r 0}_{1} (t) = 0 \\ fixedTranslation 2. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {fixedTranslation 2. frame}_{a . x} (t), {fixedTranslation 2. frame}_{a . y} (t), fixedTranslation 2. z_{position}) \\ fixedTranslation 2. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {fixedTranslation 2. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {fixedTranslation 2. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{fixedTranslation 2. r 0}_{1} (t)}{fixedTranslation 2. l}, \frac{{fixedTranslation 2. r 0}_{2} (t)}{fixedTranslation 2. l}, 0) \\ {fixedTranslation 2. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ fixedTranslation 2. shape . length (t) = fixedTranslation 2. l \\ fixedTranslation 2. shape . width (t) = 2 \cdot fixedTranslation 2. radius \\ fixedTranslation 2. shape . height (t) = 2 \cdot fixedTranslation 2. radius \\ fixedTranslation 3. phi (t) = {fixedTranslation 3. frame}_{a . phi} (t) \\ fixedTranslation 3. w (t) = \frac{d \cdot fixedTranslation 3. phi (t)}{d t} \\ fixedTranslation 3. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (fixedTranslation 3. phi (t)), \sin (fixedTranslation 3. phi (t)), - \sin (fixedTranslation 3. phi (t)), \cos (fixedTranslation 3. phi (t))) \cdot fixedTranslation 3. r \\ fixedTranslation 3. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {fixedTranslation 3. frame}_{b . x} (t) - {fixedTranslation 3. frame}_{a . x} (t), - {fixedTranslation 3. frame}_{a . y} (t) + {fixedTranslation 3. frame}_{b . y} (t)) \\ {fixedTranslation 3. frame}_{a . phi} (t) = {fixedTranslation 3. frame}_{b . phi} (t) \\ {fixedTranslation 3. frame}_{b . fx} (t) + {fixedTranslation 3. frame}_{a . fx} (t) = 0 \\ {fixedTranslation 3. frame}_{a . fy} (t) + {fixedTranslation 3. frame}_{b . fy} (t) = 0 \\ {fixedTranslation 3. frame}_{b . tau} (t) + {fixedTranslation 3. frame}_{a . tau} (t) - {fixedTranslation 3. frame}_{b . fx} (t) \cdot {fixedTranslation 3. r 0}_{2} (t) + {fixedTranslation 3. r 0}_{1} (t) \cdot {fixedTranslation 3. frame}_{b . fy} (t) = 0 \\ fixedTranslation 3. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {fixedTranslation 3. frame}_{a . x} (t), {fixedTranslation 3. frame}_{a . y} (t), fixedTranslation 3. z_{position}) \\ fixedTranslation 3. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {fixedTranslation 3. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {fixedTranslation 3. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{fixedTranslation 3. r 0}_{1} (t)}{fixedTranslation 3. l}, \frac{{fixedTranslation 3. r 0}_{2} (t)}{fixedTranslation 3. l}, 0) \\ {fixedTranslation 3. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ fixedTranslation 3. shape . length (t) = fixedTranslation 3. l \\ fixedTranslation 3. shape . width (t) = 2 \cdot fixedTranslation 3. radius \\ fixedTranslation 3. shape . height (t) = 2 \cdot fixedTranslation 3. radius \\ fixedTranslation 4. phi (t) = {fixedTranslation 4. frame}_{a . phi} (t) \\ fixedTranslation 4. w (t) = \frac{d \cdot fixedTranslation 4. phi (t)}{d t} \\ fixedTranslation 4. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (fixedTranslation 4. phi (t)), \sin (fixedTranslation 4. phi (t)), - \sin (fixedTranslation 4. phi (t)), \cos (fixedTranslation 4. phi (t))) \cdot fixedTranslation 4. r \\ fixedTranslation 4. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], - {fixedTranslation 4. frame}_{a . x} (t) + {fixedTranslation 4. frame}_{b . x} (t), {fixedTranslation 4. frame}_{b . y} (t) - {fixedTranslation 4. frame}_{a . y} (t)) \\ {fixedTranslation 4. frame}_{a . phi} (t) = {fixedTranslation 4. frame}_{b . phi} (t) \\ {fixedTranslation 4. frame}_{a . fx} (t) + {fixedTranslation 4. frame}_{b . fx} (t) = 0 \\ {fixedTranslation 4. frame}_{a . fy} (t) + {fixedTranslation 4. frame}_{b . fy} (t) = 0 \\ {fixedTranslation 4. frame}_{a . tau} (t) + {fixedTranslation 4. frame}_{b . tau} (t) - {fixedTranslation 4. frame}_{b . fx} (t) \cdot {fixedTranslation 4. r 0}_{2} (t) + {fixedTranslation 4. frame}_{b . fy} (t) \cdot {fixedTranslation 4. r 0}_{1} (t) = 0 \\ fixedTranslation 4. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {fixedTranslation 4. frame}_{a . x} (t), {fixedTranslation 4. frame}_{a . y} (t), fixedTranslation 4. z_{position}) \\ fixedTranslation 4. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {fixedTranslation 4. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {fixedTranslation 4. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{fixedTranslation 4. r 0}_{1} (t)}{fixedTranslation 4. l}, \frac{{fixedTranslation 4. r 0}_{2} (t)}{fixedTranslation 4. l}, 0) \\ {fixedTranslation 4. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ fixedTranslation 4. shape . length (t) = fixedTranslation 4. l \\ fixedTranslation 4. shape . width (t) = 2 \cdot fixedTranslation 4. radius \\ fixedTranslation 4. shape . height (t) = 2 \cdot fixedTranslation 4. radius \\ fixedTranslation 5. phi (t) = {fixedTranslation 5. frame}_{a . phi} (t) \\ fixedTranslation 5. w (t) = \frac{d \cdot fixedTranslation 5. phi (t)}{d t} \\ fixedTranslation 5. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (fixedTranslation 5. phi (t)), \sin (fixedTranslation 5. phi (t)), - \sin (fixedTranslation 5. phi (t)), \cos (fixedTranslation 5. phi (t))) \cdot fixedTranslation 5. r \\ fixedTranslation 5. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], - {fixedTranslation 5. frame}_{a . x} (t) + {fixedTranslation 5. frame}_{b . x} (t), - {fixedTranslation 5. frame}_{a . y} (t) + {fixedTranslation 5. frame}_{b . y} (t)) \\ {fixedTranslation 5. frame}_{a . phi} (t) = {fixedTranslation 5. frame}_{b . phi} (t) \\ {fixedTranslation 5. frame}_{b . fx} (t) + {fixedTranslation 5. frame}_{a . fx} (t) = 0 \\ {fixedTranslation 5. frame}_{a . fy} (t) + {fixedTranslation 5. frame}_{b . fy} (t) = 0 \\ {fixedTranslation 5. frame}_{b . tau} (t) + {fixedTranslation 5. frame}_{a . tau} (t) + {fixedTranslation 5. r 0}_{1} (t) \cdot {fixedTranslation 5. frame}_{b . fy} (t) - {fixedTranslation 5. r 0}_{2} (t) \cdot {fixedTranslation 5. frame}_{b . fx} (t) = 0 \\ fixedTranslation 5. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {fixedTranslation 5. frame}_{a . x} (t), {fixedTranslation 5. frame}_{a . y} (t), fixedTranslation 5. z_{position}) \\ fixedTranslation 5. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {fixedTranslation 5. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {fixedTranslation 5. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{fixedTranslation 5. r 0}_{1} (t)}{fixedTranslation 5. l}, \frac{{fixedTranslation 5. r 0}_{2} (t)}{fixedTranslation 5. l}, 0) \\ {fixedTranslation 5. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ fixedTranslation 5. shape . length (t) = fixedTranslation 5. l \\ fixedTranslation 5. shape . width (t) = 2 \cdot fixedTranslation 5. radius \\ fixedTranslation 5. shape . height (t) = 2 \cdot fixedTranslation 5. radius \\ leftTrail . phi (t) = {leftTrail . frame}_{a . phi} (t) \\ leftTrail . w (t) = \frac{d \cdot leftTrail . phi (t)}{d t} \\ leftTrail . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (leftTrail . phi (t)), \sin (leftTrail . phi (t)), - \sin (leftTrail . phi (t)), \cos (leftTrail . phi (t))) \cdot leftTrail . r \\ leftTrail . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], - {leftTrail . frame}_{a . x} (t) + {leftTrail . frame}_{b . x} (t), {leftTrail . frame}_{b . y} (t) - {leftTrail . frame}_{a . y} (t)) \\ {leftTrail . frame}_{a . phi} (t) = {leftTrail . frame}_{b . phi} (t) \\ {leftTrail . frame}_{a . fx} (t) + {leftTrail . frame}_{b . fx} (t) = 0 \\ {leftTrail . frame}_{a . fy} (t) + {leftTrail . frame}_{b . fy} (t) = 0 \\ {leftTrail . frame}_{b . tau} (t) + {leftTrail . frame}_{a . tau} (t) + {leftTrail . frame}_{b . fy} (t) \cdot {leftTrail . r 0}_{1} (t) - {leftTrail . r 0}_{2} (t) \cdot {leftTrail . frame}_{b . fx} (t) = 0 \\ leftTrail . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {leftTrail . frame}_{a . x} (t), {leftTrail . frame}_{a . y} (t), leftTrail . z_{position}) \\ leftTrail . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {leftTrail . shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {leftTrail . shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{leftTrail . r 0}_{1} (t)}{leftTrail . l}, \frac{{leftTrail . r 0}_{2} (t)}{leftTrail . l}, 0) \\ {leftTrail . shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ leftTrail . shape . length (t) = leftTrail . l \\ leftTrail . shape . width (t) = 2 \cdot leftTrail . radius \\ leftTrail . shape . height (t) = 2 \cdot leftTrail . radius \\ rightTrail . phi (t) = {rightTrail . frame}_{a . phi} (t) \\ rightTrail . w (t) = \frac{d \cdot rightTrail . phi (t)}{d t} \\ rightTrail . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (rightTrail . phi (t)), \sin (rightTrail . phi (t)), - \sin (rightTrail . phi (t)), \cos (rightTrail . phi (t))) \cdot rightTrail . r \\ rightTrail . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {rightTrail . frame}_{b . x} (t) - {rightTrail . frame}_{a . x} (t), {rightTrail . frame}_{b . y} (t) - {rightTrail . frame}_{a . y} (t)) \\ {rightTrail . frame}_{a . phi} (t) = {rightTrail . frame}_{b . phi} (t) \\ {rightTrail . frame}_{b . fx} (t) + {rightTrail . frame}_{a . fx} (t) = 0 \\ {rightTrail . frame}_{b . fy} (t) + {rightTrail . frame}_{a . fy} (t) = 0 \\ {rightTrail . frame}_{a . tau} (t) + {rightTrail . frame}_{b . tau} (t) - {rightTrail . frame}_{b . fx} (t) \cdot {rightTrail . r 0}_{2} (t) + {rightTrail . frame}_{b . fy} (t) \cdot {rightTrail . r 0}_{1} (t) = 0 \\ rightTrail . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rightTrail . frame}_{a . x} (t), {rightTrail . frame}_{a . y} (t), rightTrail . z_{position}) \\ rightTrail . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {rightTrail . shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {rightTrail . shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{rightTrail . r 0}_{1} (t)}{rightTrail . l}, \frac{{rightTrail . r 0}_{2} (t)}{rightTrail . l}, 0) \\ {rightTrail . shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ rightTrail . shape . length (t) = rightTrail . l \\ rightTrail . shape . width (t) = 2 \cdot rightTrail . radius \\ rightTrail . shape . height (t) = 2 \cdot rightTrail . radius \\ revolute . w (t) = \frac{d \cdot revolute . phi (t)}{d t} \\ revolute . alpha (t) = \frac{d \cdot revolute . w (t)}{d t} \\ {revolute . frame}_{a . x} (t) = {revolute . frame}_{b . x} (t) \\ {revolute . frame}_{a . y} (t) = {revolute . frame}_{b . y} (t) \\ {revolute . frame}_{a . phi} (t) + revolute . phi (t) = {revolute . frame}_{b . phi} (t) \\ {revolute . frame}_{b . fx} (t) + {revolute . frame}_{a . fx} (t) = 0 \\ {revolute . frame}_{a . fy} (t) + {revolute . frame}_{b . fy} (t) = 0 \\ {revolute . frame}_{b . tau} (t) + {revolute . frame}_{a . tau} (t) = 0 \\ {revolute . frame}_{a . tau} (t) = revolute . tau (t) \\ {revolute . flange}_{a . phi} (t) = revolute . phi (t) \\ {revolute . flange}_{a . tau} (t) = revolute . tau (t) \\ revolute . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {revolute . frame}_{a . x} (t), {revolute . frame}_{a . y} (t), revolute . z_{position}) \\ revolute . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {revolute . frame}_{a . phi} (t)), \sin (- {revolute . frame}_{a . phi} (t)), 0, - \sin (- {revolute . frame}_{a . phi} (t)), \cos (- {revolute . frame}_{a . phi} (t)), 0, 0, 0, 1) \\ {revolute . shape . r}_{shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - \frac{1}{2} \cdot revolute . {cylinder}_{length}) \\ {revolute . shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {revolute . shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ revolute . shape . length (t) = revolute . {cylinder}_{length} \\ revolute . shape . width (t) = 2 \cdot revolute . radius \\ revolute . shape . height (t) = 2 \cdot revolute . radius \\ revolute 2. w (t) = \frac{d \cdot revolute 2. phi (t)}{d t} \\ revolute 2. alpha (t) = \frac{d \cdot revolute 2. w (t)}{d t} \\ {revolute 2. frame}_{a . x} (t) = {revolute 2. frame}_{b . x} (t) \\ {revolute 2. frame}_{a . y} (t) = {revolute 2. frame}_{b . y} (t) \\ {revolute 2. frame}_{a . phi} (t) + revolute 2. phi (t) = {revolute 2. frame}_{b . phi} (t) \\ {revolute 2. frame}_{b . fx} (t) + {revolute 2. frame}_{a . fx} (t) = 0 \\ {revolute 2. frame}_{b . fy} (t) + {revolute 2. frame}_{a . fy} (t) = 0 \\ {revolute 2. frame}_{a . tau} (t) + {revolute 2. frame}_{b . tau} (t) = 0 \\ {revolute 2. frame}_{a . tau} (t) = revolute 2. tau (t) \\ {revolute 2. flange}_{a . phi} (t) = revolute 2. phi (t) \\ {revolute 2. flange}_{a . tau} (t) = revolute 2. tau (t) \\ revolute 2. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {revolute 2. frame}_{a . x} (t), {revolute 2. frame}_{a . y} (t), revolute 2. z_{position}) \\ revolute 2. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {revolute 2. frame}_{a . phi} (t)), \sin (- {revolute 2. frame}_{a . phi} (t)), 0, - \sin (- {revolute 2. frame}_{a . phi} (t)), \cos (- {revolute 2. frame}_{a . phi} (t)), 0, 0, 0, 1) \\ {revolute 2. shape . r}_{shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - \frac{1}{2} \cdot revolute 2. {cylinder}_{length}) \\ {revolute 2. shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {revolute 2. shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ revolute 2. shape . length (t) = revolute 2. {cylinder}_{length} \\ revolute 2. shape . width (t) = 2 \cdot revolute 2. radius \\ revolute 2. shape . height (t) = 2 \cdot revolute 2. radius \\ {dynamic}_{load . y} (t) = {dynamic}_{load . k} \\ fixed 1. spline . phi (t) = fixed 1. phi 0 \end{matrix}]

Source

dyad

"A double track model of a car."
example component TwoTrackModelTest
  world = MultibodyComponents.PlanarMechanics.World(g = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  body = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 190, "y1": 110, "x2": 290, "y2": 210, "rot": 270}
      },
      "tags": []
    }
  }
  body1 = MultibodyComponents.PlanarMechanics.Body(m = 300, I = 0.1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 680, "x2": 350, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  body2 = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 840, "y1": 110, "x2": 740, "y2": 210, "rot": 90}
      },
      "tags": []
    }
  }
  wheelJoint1 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 290, "y1": 250, "x2": 190, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint2 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 270, "y1": 820, "x2": 170, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint3 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 750, "y1": 820, "x2": 850, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint4 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 740, "y1": 250, "x2": 840, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  differentialGear = MultibodyComponents.PlanarMechanics.DifferentialGear() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 890, "x2": 550, "y2": 990, "rot": 0}
      },
      "tags": []
    }
  }
  pulse = BlockComponents.Sources.Square(frequency = 0.5, offset = 0, start_time = 1, amplitude = -2) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 650, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  torque = RotationalComponents.Sources.TorqueSource() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 460, "y1": 260, "x2": 560, "y2": 360, "rot": 90}
      },
      "tags": []
    }
  }
  fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 1180, "x2": 460, "y2": 1280, "rot": 0}
      },
      "tags": []
    }
  }
  constantTorque = BlockComponents.Sources.Constant(k = 25) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 220, "y1": 1030, "x2": 320, "y2": 1130, "rot": 0}
      },
      "tags": []
    }
  }
  engineTorque = RotationalComponents.Sources.TorqueSource() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 1030, "x2": 460, "y2": 1130, "rot": 0}
      },
      "tags": []
    }
  }
  inertia = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 250, "x2": 30, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  inertia1 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 820, "x2": 30, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  inertia2 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 820, "x2": 990, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  inertia3 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 250, "x2": 990, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation1 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 2]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 620, "x2": 550, "y2": 720, "rot": 270}
      },
      "tags": []
    }
  }
  fixedTranslation2 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 760, "x2": 460, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation3 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 640, "y1": 760, "x2": 540, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation4 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 480, "x2": 500, "y2": 580, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation5 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 610, "y1": 480, "x2": 510, "y2": 580, "rot": 0}
      },
      "tags": []
    }
  }
  leftTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, -0.05]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 440, "y1": 250, "x2": 340, "y2": 350, "rot": 90}
      },
      "tags": []
    }
  }
  rightTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 0.05]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 590, "y2": 350, "rot": 270}
      },
      "tags": []
    }
  }
  revolute = MultibodyComponents.PlanarMechanics.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 590, "y1": 390, "x2": 690, "y2": 490, "rot": 90}
      },
      "tags": []
    }
  }
  revolute2 = MultibodyComponents.PlanarMechanics.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 440, "y1": 390, "x2": 340, "y2": 490, "rot": 270}
      },
      "tags": []
    }
  }
  dynamic_load = BlockComponents.Sources.Constant(k = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 120, "y1": 520, "x2": 220, "y2": 620, "rot": 0}
      },
      "tags": []
    }
  }
  fixed1 = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 380, "y1": 190, "x2": 480, "y2": 90, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial body1.r = [1.0, 1.0]
  initial body1.v = [0.0, 0.0]
  initial body1.phi = 0.0
  initial body1.w = 0.0
  initial inertia.phi = 0.0
  initial inertia.w = 0.0
  initial inertia1.phi = 0.0
  initial inertia1.w = 0.0
  initial inertia2.phi = 0.0
  initial inertia2.w = 0.0
  initial inertia3.phi = 0.0
  initial inertia3.w = 0.0
  initial revolute2.phi = -0.43633231299858
  initial revolute2.w = 0.0
  connect(inertia.spline_a, wheelJoint1.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(inertia3.spline_a, wheelJoint4.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(body2.frame_a, wheelJoint4.frame_a, rightTrail.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 640, "y": 230}], "E": -1}
      ],
      "junctions": [{"x": 790, "y": 230}],
      "renderStyle": "standard"
    }
  }
  connect(body.frame_a, wheelJoint1.frame_a, leftTrail.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 390, "y": 230}], "E": -1}
      ],
      "junctions": [{"x": 240, "y": 230}],
      "renderStyle": "standard"
    }
  }
  connect(pulse.y, torque.tau) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 510, "y": 140}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(rightTrail.frame_b, revolute.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(revolute2.flange_a, revolute.flange_a, torque.spline) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [], "E": -1}
      ],
      "junctions": [{"x": 510, "y": 440}],
      "renderStyle": "standard"
    }
  }
  connect(fixedTranslation5.frame_a, revolute.frame_b) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 640, "y": 530}], "E": 2}]
    }
  }
  connect(fixedTranslation5.frame_b, fixedTranslation4.frame_b) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(fixedTranslation1.frame_b, fixedTranslation4.frame_b) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 500, "y": 530}], "E": 2}]
    }
  }
  connect(wheelJoint3.frame_a, fixedTranslation3.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 800, "y": 810}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelJoint2.frame_a, fixedTranslation2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 220, "y": 810}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelJoint3.flange_a, inertia2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(wheelJoint2.flange_a, inertia1.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(fixedTranslation2.frame_b, fixedTranslation3.frame_b, fixedTranslation1.frame_a, body1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 4, "M": [], "E": -2}
      ],
      "junctions": [{"x": 500, "y": 810}, {"x": 500, "y": 730}],
      "renderStyle": "standard"
    }
  }
  connect(differentialGear.flange_left, wheelJoint2.flange_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 170, "y": 940}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(differentialGear.flange_right, wheelJoint3.flange_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 850, "y": 940}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(engineTorque.spline, differentialGear.flange_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 500, "y": 1080}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(constantTorque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(dynamic_load.y, wheelJoint1.dynamicLoad, wheelJoint2.dynamicLoad, wheelJoint4.dynamicLoad, wheelJoint3.dynamicLoad) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 310, "y": 300}], "E": 2},
        {"S": 3, "M": [{"x": 310, "y": 870}], "E": -1},
        {"S": 4, "M": [{"x": 710, "y": 300}], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 5, "M": [{"x": 710, "y": 870}], "E": -2}
      ],
      "junctions": [{"x": 310, "y": 570}, {"x": 710, "y": 570}],
      "renderStyle": "standard"
    }
  }
  connect(fixed1.spline, torque.support) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 430, "y": 310}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(fixed.spline, engineTorque.support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute2.frame_b, fixedTranslation4.frame_a) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 390, "y": 530}], "E": 2}]
    }
  }
  connect(leftTrail.frame_a, revolute2.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
metadata {"Dyad": {"tests": {"case1": {"stop": 20}}}}
end

Flattened Source

dyad

"A double track model of a car."
example component TwoTrackModelTest
  world = MultibodyComponents.PlanarMechanics.World(g = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  body = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 190, "y1": 110, "x2": 290, "y2": 210, "rot": 270}
      },
      "tags": []
    }
  }
  body1 = MultibodyComponents.PlanarMechanics.Body(m = 300, I = 0.1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 680, "x2": 350, "y2": 780, "rot": 0}
      },
      "tags": []
    }
  }
  body2 = MultibodyComponents.PlanarMechanics.Body(m = 100, I = 1, render = false) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 840, "y1": 110, "x2": 740, "y2": 210, "rot": 90}
      },
      "tags": []
    }
  }
  wheelJoint1 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 290, "y1": 250, "x2": 190, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint2 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 270, "y1": 820, "x2": 170, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint3 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1500, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 750, "y1": 820, "x2": 850, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  wheelJoint4 = MultibodyComponents.PlanarMechanics.SlipBasedWheelJoint(radius = 0.25, r = [0, 1], mu_A = 1, mu_S = 0.7, N = 1000, sAdhesion = 0.04, sSlide = 0.12, vAdhesion_min = 0.05, vSlide_min = 0.15) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 740, "y1": 250, "x2": 840, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  differentialGear = MultibodyComponents.PlanarMechanics.DifferentialGear() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 890, "x2": 550, "y2": 990, "rot": 0}
      },
      "tags": []
    }
  }
  pulse = BlockComponents.Sources.Square(frequency = 0.5, offset = 0, start_time = 1, amplitude = -2) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 650, "y1": 90, "x2": 550, "y2": 190, "rot": 0}
      },
      "tags": []
    }
  }
  torque = RotationalComponents.Sources.TorqueSource() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 460, "y1": 260, "x2": 560, "y2": 360, "rot": 90}
      },
      "tags": []
    }
  }
  fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 1180, "x2": 460, "y2": 1280, "rot": 0}
      },
      "tags": []
    }
  }
  constantTorque = BlockComponents.Sources.Constant(k = 25) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 220, "y1": 1030, "x2": 320, "y2": 1130, "rot": 0}
      },
      "tags": []
    }
  }
  engineTorque = RotationalComponents.Sources.TorqueSource() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 1030, "x2": 460, "y2": 1130, "rot": 0}
      },
      "tags": []
    }
  }
  inertia = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 250, "x2": 30, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  inertia1 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 820, "x2": 30, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  inertia2 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 820, "x2": 990, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  inertia3 = RotationalComponents.Components.Inertia(J = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 890, "y1": 250, "x2": 990, "y2": 350, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation1 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 2]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 620, "x2": 550, "y2": 720, "rot": 270}
      },
      "tags": []
    }
  }
  fixedTranslation2 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 360, "y1": 760, "x2": 460, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation3 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 640, "y1": 760, "x2": 540, "y2": 860, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation4 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 480, "x2": 500, "y2": 580, "rot": 0}
      },
      "tags": []
    }
  }
  fixedTranslation5 = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [-0.75, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 610, "y1": 480, "x2": 510, "y2": 580, "rot": 0}
      },
      "tags": []
    }
  }
  leftTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, -0.05]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 440, "y1": 250, "x2": 340, "y2": 350, "rot": 90}
      },
      "tags": []
    }
  }
  rightTrail = MultibodyComponents.PlanarMechanics.FixedTranslation(r = [0, 0.05]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 690, "y1": 250, "x2": 590, "y2": 350, "rot": 270}
      },
      "tags": []
    }
  }
  revolute = MultibodyComponents.PlanarMechanics.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 590, "y1": 390, "x2": 690, "y2": 490, "rot": 90}
      },
      "tags": []
    }
  }
  revolute2 = MultibodyComponents.PlanarMechanics.Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 440, "y1": 390, "x2": 340, "y2": 490, "rot": 270}
      },
      "tags": []
    }
  }
  dynamic_load = BlockComponents.Sources.Constant(k = 0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 120, "y1": 520, "x2": 220, "y2": 620, "rot": 0}
      },
      "tags": []
    }
  }
  fixed1 = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 380, "y1": 190, "x2": 480, "y2": 90, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial body1.r = [1.0, 1.0]
  initial body1.v = [0.0, 0.0]
  initial body1.phi = 0.0
  initial body1.w = 0.0
  initial inertia.phi = 0.0
  initial inertia.w = 0.0
  initial inertia1.phi = 0.0
  initial inertia1.w = 0.0
  initial inertia2.phi = 0.0
  initial inertia2.w = 0.0
  initial inertia3.phi = 0.0
  initial inertia3.w = 0.0
  initial revolute2.phi = -0.43633231299858
  initial revolute2.w = 0.0
  connect(inertia.spline_a, wheelJoint1.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(inertia3.spline_a, wheelJoint4.flange_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(body2.frame_a, wheelJoint4.frame_a, rightTrail.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 640, "y": 230}], "E": -1}
      ],
      "junctions": [{"x": 790, "y": 230}],
      "renderStyle": "standard"
    }
  }
  connect(body.frame_a, wheelJoint1.frame_a, leftTrail.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 390, "y": 230}], "E": -1}
      ],
      "junctions": [{"x": 240, "y": 230}],
      "renderStyle": "standard"
    }
  }
  connect(pulse.y, torque.tau) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 510, "y": 140}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(rightTrail.frame_b, revolute.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(revolute2.flange_a, revolute.flange_a, torque.spline) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [], "E": -1}
      ],
      "junctions": [{"x": 510, "y": 440}],
      "renderStyle": "standard"
    }
  }
  connect(fixedTranslation5.frame_a, revolute.frame_b) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 640, "y": 530}], "E": 2}]
    }
  }
  connect(fixedTranslation5.frame_b, fixedTranslation4.frame_b) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
  connect(fixedTranslation1.frame_b, fixedTranslation4.frame_b) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 500, "y": 530}], "E": 2}]
    }
  }
  connect(wheelJoint3.frame_a, fixedTranslation3.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 800, "y": 810}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelJoint2.frame_a, fixedTranslation2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 220, "y": 810}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(wheelJoint3.flange_a, inertia2.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(wheelJoint2.flange_a, inertia1.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(fixedTranslation2.frame_b, fixedTranslation3.frame_b, fixedTranslation1.frame_a, body1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [], "E": 2},
        {"S": 3, "M": [], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 4, "M": [], "E": -2}
      ],
      "junctions": [{"x": 500, "y": 810}, {"x": 500, "y": 730}],
      "renderStyle": "standard"
    }
  }
  connect(differentialGear.flange_left, wheelJoint2.flange_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 170, "y": 940}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(differentialGear.flange_right, wheelJoint3.flange_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 850, "y": 940}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(engineTorque.spline, differentialGear.flange_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 500, "y": 1080}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(constantTorque.y, engineTorque.tau) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(dynamic_load.y, wheelJoint1.dynamicLoad, wheelJoint2.dynamicLoad, wheelJoint4.dynamicLoad, wheelJoint3.dynamicLoad) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 310, "y": 300}], "E": 2},
        {"S": 3, "M": [{"x": 310, "y": 870}], "E": -1},
        {"S": 4, "M": [{"x": 710, "y": 300}], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 5, "M": [{"x": 710, "y": 870}], "E": -2}
      ],
      "junctions": [{"x": 310, "y": 570}, {"x": 710, "y": 570}],
      "renderStyle": "standard"
    }
  }
  connect(fixed1.spline, torque.support) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 430, "y": 310}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(fixed.spline, engineTorque.support) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute2.frame_b, fixedTranslation4.frame_a) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 390, "y": 530}], "E": 2}]
    }
  }
  connect(leftTrail.frame_a, revolute2.frame_a) {"Dyad": {"renderStyle": "standard", "edges": [{"S": 1, "E": 2, "M": []}]}}
metadata {"Dyad": {"tests": {"case1": {"stop": 20}}}}
end

Test Cases

Test Case `case1`

Examples
Experiments
Analyses

Scalar Types

Partial Types

Enumerated Types

Function Types

Partial Types

Enumerated Types

Partial Types

Partial Types

Partial Types

Scalar Types

Partial Types

Partial Types

Partial Types

Enumerated Types

PlanarMechanics.examples.TwoTrackModelTest ​

Usage ​

Behavior ​

Source ​

Test Cases ​

Test Case case1 ​

Related ​

`PlanarMechanics.examples.TwoTrackModelTest`

Usage

Behavior

Source

Test Cases

Test Case `case1`

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