LIBRARY

`PlanarMechanics.SensorsTest`

Sensor test with two free-falling bodies: validates all 6 sensor types.

Translates the "Sensors (two free falling bodies)" test from test_PlanarMechanics.jl. Two bodies (m=1, I=1) start at the origin with zero velocity and fall under gravity. A fixed base sits at the origin. Three absolute sensors are attached to body1, and six relative sensors measure pairs (body1-vs-base and body1-vs-body2).

Usage

MultibodyComponents.PlanarMechanics.SensorsTest()

Behavior

[\begin{matrix} connect (b o d y 1_{+} f r a m e_{a}, a b s_{p o s_s e n s o r_{+} f r a m e_a}) \\ connect (b o d y 1_{+} f r a m e_{a}, a b s_{v_s e n s o r_{+} f r a m e_a}) \\ connect (b o d y 1_{+} f r a m e_{a}, a b s_{a_s e n s o r_{+} f r a m e_a}) \\ connect (b o d y 1_{+} f r a m e_{a}, r e l_{p o s_s e n s o r 1_{+} f r a m e_a}) \\ connect (w o r l d_{+} f r a m e_{b}, r e l_{p o s_s e n s o r 1_{+} f r a m e_b}) \\ connect (b o d y 1_{+} f r a m e_{a}, r e l_{p o s_s e n s o r 2_{+} f r a m e_a}) \\ connect (b o d y 2_{+} f r a m e_{a}, r e l_{p o s_s e n s o r 2_{+} f r a m e_b}, d i s t a n c e_{+} f r a m e_{b}) \\ connect (w o r l d_{+} f r a m e_{b}, r e l_{v_s e n s o r 1_{+} f r a m e_a}) \\ connect (b o d y 1_{+} f r a m e_{a}, r e l_{v_s e n s o r 1_{+} f r a m e_b}) \\ connect (b o d y 1_{+} f r a m e_{a}, r e l_{v_s e n s o r 2_{+} f r a m e_a}) \\ connect (b o d y 2_{+} f r a m e_{a}, r e l_{v_s e n s o r 2_{+} f r a m e_b}) \\ connect (b o d y 1_{+} f r a m e_{a}, r e l_{a_s e n s o r 1_{+} f r a m e_a}) \\ connect (w o r l d_{+} f r a m e_{b}, r e l_{a_s e n s o r 1_{+} f r a m e_b}) \\ connect (r e l_{a_s e n s o r 2_{+} f r a m e_a}, b o d y 1_{+} f r a m e_{a}, d i s t a n c e_{+} f r a m e_{a}) \\ connect (b o d y 2_{+} f r a m e_{a}, r e l_{a_s e n s o r 2_{+} f r a m e_b}) \\ {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 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 \\ {abs}_{pos_sensor . x} (t) = {abs}_{pos_sensor . pos . x} (t) \\ {abs}_{pos_sensor . y} (t) = {abs}_{pos_sensor . pos . y} (t) \\ {abs}_{pos_sensor . phi} (t) = {abs}_{pos_sensor . pos . phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ {abs}_{pos_sensor . pos . frame_a . fx} (t) = 0 \\ {abs}_{pos_sensor . pos . frame_a . fy} (t) = 0 \\ {abs}_{pos_sensor . pos . frame_a . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{pos_sensor . pos . x} (t), {abs}_{pos_sensor . pos . y} (t), {abs}_{pos_sensor . pos . phi} (t)) = {abs}_{pos_sensor . pos . r} (t) \\ {abs}_{pos_sensor . pos . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{pos_sensor . pos . frame_a . x} (t), {abs}_{pos_sensor . pos . frame_a . y} (t), {abs}_{pos_sensor . pos . frame_a . phi} (t)) \\ {abs}_{v_sensor . px} (t) = {abs}_{v_sensor . pos . x} (t) \\ {abs}_{v_sensor . py} (t) = {abs}_{v_sensor . pos . y} (t) \\ {abs}_{v_sensor . pphi} (t) = {abs}_{v_sensor . pos . phi} (t) \\ {abs}_{v_sensor . transform . x_in} (t) = \frac{d \cdot {abs}_{v_sensor . px} (t)}{d t} \\ {abs}_{v_sensor . transform . y_in} (t) = \frac{d \cdot {abs}_{v_sensor . py} (t)}{d t} \\ {abs}_{v_sensor . transform . phi_in} (t) = \frac{d \cdot {abs}_{v_sensor . pphi} (t)}{d t} \\ {abs}_{v_sensor . v_x} (t) = {abs}_{v_sensor . transform . x_out} (t) \\ {abs}_{v_sensor . v_y} (t) = {abs}_{v_sensor . transform . y_out} (t) \\ {abs}_{v_sensor . w} (t) = {abs}_{v_sensor . transform . phi_out} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ {abs}_{v_sensor . pos . frame_a . fx} (t) = 0 \\ {abs}_{v_sensor . pos . frame_a . fy} (t) = 0 \\ {abs}_{v_sensor . pos . frame_a . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{v_sensor . pos . x} (t), {abs}_{v_sensor . pos . y} (t), {abs}_{v_sensor . pos . phi} (t)) = {abs}_{v_sensor . pos . r} (t) \\ {abs}_{v_sensor . pos . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{v_sensor . pos . frame_a . x} (t), {abs}_{v_sensor . pos . frame_a . y} (t), {abs}_{v_sensor . pos . frame_a . phi} (t)) \\ {abs}_{v_sensor . transform . frame_a . fx} (t) = 0 \\ {abs}_{v_sensor . transform . frame_a . fy} (t) = 0 \\ {abs}_{v_sensor . transform . frame_a . tau} (t) = 0 \\ {abs}_{v_sensor . transform . x_out} (t) = {abs}_{v_sensor . transform . x_in} (t) \\ {abs}_{v_sensor . transform . y_out} (t) = {abs}_{v_sensor . transform . y_in} (t) \\ {abs}_{v_sensor . transform . phi_out} (t) = {abs}_{v_sensor . transform . phi_in} (t) \\ {abs}_{a_sensor . px} (t) = {abs}_{a_sensor . pos . x} (t) \\ {abs}_{a_sensor . py} (t) = {abs}_{a_sensor . pos . y} (t) \\ {abs}_{a_sensor . pphi} (t) = {abs}_{a_sensor . pos . phi} (t) \\ {abs}_{a_sensor . vx} (t) = \frac{d \cdot {abs}_{a_sensor . px} (t)}{d t} \\ {abs}_{a_sensor . vy} (t) = \frac{d \cdot {abs}_{a_sensor . py} (t)}{d t} \\ {abs}_{a_sensor . vphi} (t) = \frac{d \cdot {abs}_{a_sensor . pphi} (t)}{d t} \\ {abs}_{a_sensor . transform . x_in} (t) = \frac{d \cdot {abs}_{a_sensor . vx} (t)}{d t} \\ {abs}_{a_sensor . transform . y_in} (t) = \frac{d \cdot {abs}_{a_sensor . vy} (t)}{d t} \\ {abs}_{a_sensor . transform . phi_in} (t) = \frac{d \cdot {abs}_{a_sensor . vphi} (t)}{d t} \\ {abs}_{a_sensor . a_x} (t) = {abs}_{a_sensor . transform . x_out} (t) \\ {abs}_{a_sensor . a_y} (t) = {abs}_{a_sensor . transform . y_out} (t) \\ {abs}_{a_sensor . alpha} (t) = {abs}_{a_sensor . transform . phi_out} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ {abs}_{a_sensor . pos . frame_a . fx} (t) = 0 \\ {abs}_{a_sensor . pos . frame_a . fy} (t) = 0 \\ {abs}_{a_sensor . pos . frame_a . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{a_sensor . pos . x} (t), {abs}_{a_sensor . pos . y} (t), {abs}_{a_sensor . pos . phi} (t)) = {abs}_{a_sensor . pos . r} (t) \\ {abs}_{a_sensor . pos . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {abs}_{a_sensor . pos . frame_a . x} (t), {abs}_{a_sensor . pos . frame_a . y} (t), {abs}_{a_sensor . pos . frame_a . phi} (t)) \\ {abs}_{a_sensor . transform . frame_a . fx} (t) = 0 \\ {abs}_{a_sensor . transform . frame_a . fy} (t) = 0 \\ {abs}_{a_sensor . transform . frame_a . tau} (t) = 0 \\ {abs}_{a_sensor . transform . x_out} (t) = {abs}_{a_sensor . transform . x_in} (t) \\ {abs}_{a_sensor . transform . y_out} (t) = {abs}_{a_sensor . transform . y_in} (t) \\ {abs}_{a_sensor . transform . phi_out} (t) = {abs}_{a_sensor . transform . phi_in} (t) \\ {rel}_{pos_sensor 1. rel_x} (t) = {rel}_{pos_sensor 1. pos . rel_x} (t) \\ {rel}_{pos_sensor 1. rel_y} (t) = {rel}_{pos_sensor 1. pos . rel_y} (t) \\ {rel}_{pos_sensor 1. rel_phi} (t) = {rel}_{pos_sensor 1. pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{pos_sensor 1. pos . frame_a . fx} (t) = 0 \\ {rel}_{pos_sensor 1. pos . frame_a . fy} (t) = 0 \\ {rel}_{pos_sensor 1. pos . frame_a . tau} (t) = 0 \\ {rel}_{pos_sensor 1. pos . frame_b . fx} (t) = 0 \\ {rel}_{pos_sensor 1. pos . frame_b . fy} (t) = 0 \\ {rel}_{pos_sensor 1. pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{pos_sensor 1. pos . rel_x} (t), {rel}_{pos_sensor 1. pos . rel_y} (t), {rel}_{pos_sensor 1. pos . rel_phi} (t)) = {rel}_{pos_sensor 1. pos . r} (t) \\ {rel}_{pos_sensor 1. pos . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {rel}_{pos_sensor 1. pos . frame_a . x} (t) + {rel}_{pos_sensor 1. pos . frame_b . x} (t), - {rel}_{pos_sensor 1. pos . frame_a . y} (t) + {rel}_{pos_sensor 1. pos . frame_b . y} (t), {rel}_{pos_sensor 1. pos . frame_b . phi} (t) - {rel}_{pos_sensor 1. pos . frame_a . phi} (t)) \\ {rel}_{pos_sensor 2. rel_x} (t) = {rel}_{pos_sensor 2. pos . rel_x} (t) \\ {rel}_{pos_sensor 2. rel_y} (t) = {rel}_{pos_sensor 2. pos . rel_y} (t) \\ {rel}_{pos_sensor 2. rel_phi} (t) = {rel}_{pos_sensor 2. pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{pos_sensor 2. pos . frame_a . fx} (t) = 0 \\ {rel}_{pos_sensor 2. pos . frame_a . fy} (t) = 0 \\ {rel}_{pos_sensor 2. pos . frame_a . tau} (t) = 0 \\ {rel}_{pos_sensor 2. pos . frame_b . fx} (t) = 0 \\ {rel}_{pos_sensor 2. pos . frame_b . fy} (t) = 0 \\ {rel}_{pos_sensor 2. pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{pos_sensor 2. pos . rel_x} (t), {rel}_{pos_sensor 2. pos . rel_y} (t), {rel}_{pos_sensor 2. pos . rel_phi} (t)) = {rel}_{pos_sensor 2. pos . r} (t) \\ {rel}_{pos_sensor 2. pos . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{pos_sensor 2. pos . frame_b . x} (t) - {rel}_{pos_sensor 2. pos . frame_a . x} (t), {rel}_{pos_sensor 2. pos . frame_b . y} (t) - {rel}_{pos_sensor 2. pos . frame_a . y} (t), {rel}_{pos_sensor 2. pos . frame_b . phi} (t) - {rel}_{pos_sensor 2. pos . frame_a . phi} (t)) \\ {rel}_{v_sensor 1. rpx} (t) = {rel}_{v_sensor 1. rel_pos . rel_x} (t) \\ {rel}_{v_sensor 1. rpy} (t) = {rel}_{v_sensor 1. rel_pos . rel_y} (t) \\ {rel}_{v_sensor 1. rpphi} (t) = {rel}_{v_sensor 1. rel_pos . rel_phi} (t) \\ {rel}_{v_sensor 1. transform . x_in} (t) = \frac{d \cdot {rel}_{v_sensor 1. rpx} (t)}{d t} \\ {rel}_{v_sensor 1. transform . y_in} (t) = \frac{d \cdot {rel}_{v_sensor 1. rpy} (t)}{d t} \\ {rel}_{v_sensor 1. transform . phi_in} (t) = \frac{d \cdot {rel}_{v_sensor 1. rpphi} (t)}{d t} \\ {rel}_{v_sensor 1. rel_v_x} (t) = {rel}_{v_sensor 1. transform . x_out} (t) \\ {rel}_{v_sensor 1. rel_v_y} (t) = {rel}_{v_sensor 1. transform . y_out} (t) \\ {rel}_{v_sensor 1. rel_w} (t) = {rel}_{v_sensor 1. transform . phi_out} (t) \\ connect (f r a m e_{a}, r e l_{p o s_{+} f r a m e_a}) \\ connect (f r a m e_{b}, r e l_{p o s_{+} f r a m e_b}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, t r a n s f o r m_{+} f r a m e_{b}) \\ {rel}_{v_sensor 1. rel_pos . rel_x} (t) = {rel}_{v_sensor 1. rel_pos . pos . rel_x} (t) \\ {rel}_{v_sensor 1. rel_pos . rel_y} (t) = {rel}_{v_sensor 1. rel_pos . pos . rel_y} (t) \\ {rel}_{v_sensor 1. rel_pos . rel_phi} (t) = {rel}_{v_sensor 1. rel_pos . pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{v_sensor 1. rel_pos . pos . frame_a . fx} (t) = 0 \\ {rel}_{v_sensor 1. rel_pos . pos . frame_a . fy} (t) = 0 \\ {rel}_{v_sensor 1. rel_pos . pos . frame_a . tau} (t) = 0 \\ {rel}_{v_sensor 1. rel_pos . pos . frame_b . fx} (t) = 0 \\ {rel}_{v_sensor 1. rel_pos . pos . frame_b . fy} (t) = 0 \\ {rel}_{v_sensor 1. rel_pos . pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 1. rel_pos . pos . rel_x} (t), {rel}_{v_sensor 1. rel_pos . pos . rel_y} (t), {rel}_{v_sensor 1. rel_pos . pos . rel_phi} (t)) = {rel}_{v_sensor 1. rel_pos . pos . r} (t) \\ {rel}_{v_sensor 1. rel_pos . pos . rotation_matrix} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{v_sensor 1. rel_pos . pos . frame_a . phi} (t)), \sin ({rel}_{v_sensor 1. rel_pos . pos . frame_a . phi} (t)), 0, - \sin ({rel}_{v_sensor 1. rel_pos . pos . frame_a . phi} (t)), \cos ({rel}_{v_sensor 1. rel_pos . pos . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{v_sensor 1. rel_pos . pos . r} (t) = transpose ({rel}_{v_sensor 1. rel_pos . pos . rotation_matrix} (t)) \cdot {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 1. rel_pos . pos . frame_b . x} (t) - {rel}_{v_sensor 1. rel_pos . pos . frame_a . x} (t), - {rel}_{v_sensor 1. rel_pos . pos . frame_a . y} (t) + {rel}_{v_sensor 1. rel_pos . pos . frame_b . y} (t), - {rel}_{v_sensor 1. rel_pos . pos . frame_a . phi} (t) + {rel}_{v_sensor 1. rel_pos . pos . frame_b . phi} (t)) \\ {rel}_{v_sensor 1. transform . frame_a . fx} (t) = 0 \\ {rel}_{v_sensor 1. transform . frame_a . fy} (t) = 0 \\ {rel}_{v_sensor 1. transform . frame_a . tau} (t) = 0 \\ {rel}_{v_sensor 1. transform . frame_b . fx} (t) = 0 \\ {rel}_{v_sensor 1. transform . frame_b . fy} (t) = 0 \\ {rel}_{v_sensor 1. transform . frame_b . tau} (t) = 0 \\ {rel}_{v_sensor 1. transform . r_in} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 1. transform . x_in} (t), {rel}_{v_sensor 1. transform . y_in} (t), {rel}_{v_sensor 1. transform . phi_in} (t)) \\ {rel}_{v_sensor 1. transform . R 1} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{v_sensor 1. transform . frame_a . phi} (t)), \sin ({rel}_{v_sensor 1. transform . frame_a . phi} (t)), 0, - \sin ({rel}_{v_sensor 1. transform . frame_a . phi} (t)), \cos ({rel}_{v_sensor 1. transform . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{v_sensor 1. transform . rotation_matrix} (t) = [\begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{array}] \\ {rel}_{v_sensor 1. transform . r_out} (t) = {rel}_{v_sensor 1. transform . R 1} (t) \cdot {rel}_{v_sensor 1. transform . r_in} (t) \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 1. transform . x_out} (t), {rel}_{v_sensor 1. transform . y_out} (t), {rel}_{v_sensor 1. transform . phi_out} (t)) = {rel}_{v_sensor 1. transform . r_out} (t) \\ {rel}_{v_sensor 2. rpx} (t) = {rel}_{v_sensor 2. rel_pos . rel_x} (t) \\ {rel}_{v_sensor 2. rpy} (t) = {rel}_{v_sensor 2. rel_pos . rel_y} (t) \\ {rel}_{v_sensor 2. rpphi} (t) = {rel}_{v_sensor 2. rel_pos . rel_phi} (t) \\ {rel}_{v_sensor 2. transform . x_in} (t) = \frac{d \cdot {rel}_{v_sensor 2. rpx} (t)}{d t} \\ {rel}_{v_sensor 2. transform . y_in} (t) = \frac{d \cdot {rel}_{v_sensor 2. rpy} (t)}{d t} \\ {rel}_{v_sensor 2. transform . phi_in} (t) = \frac{d \cdot {rel}_{v_sensor 2. rpphi} (t)}{d t} \\ {rel}_{v_sensor 2. rel_v_x} (t) = {rel}_{v_sensor 2. transform . x_out} (t) \\ {rel}_{v_sensor 2. rel_v_y} (t) = {rel}_{v_sensor 2. transform . y_out} (t) \\ {rel}_{v_sensor 2. rel_w} (t) = {rel}_{v_sensor 2. transform . phi_out} (t) \\ connect (f r a m e_{a}, r e l_{p o s_{+} f r a m e_a}) \\ connect (f r a m e_{b}, r e l_{p o s_{+} f r a m e_b}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, t r a n s f o r m_{+} f r a m e_{b}) \\ {rel}_{v_sensor 2. rel_pos . rel_x} (t) = {rel}_{v_sensor 2. rel_pos . pos . rel_x} (t) \\ {rel}_{v_sensor 2. rel_pos . rel_y} (t) = {rel}_{v_sensor 2. rel_pos . pos . rel_y} (t) \\ {rel}_{v_sensor 2. rel_pos . rel_phi} (t) = {rel}_{v_sensor 2. rel_pos . pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{v_sensor 2. rel_pos . pos . frame_a . fx} (t) = 0 \\ {rel}_{v_sensor 2. rel_pos . pos . frame_a . fy} (t) = 0 \\ {rel}_{v_sensor 2. rel_pos . pos . frame_a . tau} (t) = 0 \\ {rel}_{v_sensor 2. rel_pos . pos . frame_b . fx} (t) = 0 \\ {rel}_{v_sensor 2. rel_pos . pos . frame_b . fy} (t) = 0 \\ {rel}_{v_sensor 2. rel_pos . pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 2. rel_pos . pos . rel_x} (t), {rel}_{v_sensor 2. rel_pos . pos . rel_y} (t), {rel}_{v_sensor 2. rel_pos . pos . rel_phi} (t)) = {rel}_{v_sensor 2. rel_pos . pos . r} (t) \\ {rel}_{v_sensor 2. rel_pos . pos . rotation_matrix} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{v_sensor 2. rel_pos . pos . frame_a . phi} (t)), \sin ({rel}_{v_sensor 2. rel_pos . pos . frame_a . phi} (t)), 0, - \sin ({rel}_{v_sensor 2. rel_pos . pos . frame_a . phi} (t)), \cos ({rel}_{v_sensor 2. rel_pos . pos . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{v_sensor 2. rel_pos . pos . r} (t) = transpose ({rel}_{v_sensor 2. rel_pos . pos . rotation_matrix} (t)) \cdot {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {rel}_{v_sensor 2. rel_pos . pos . frame_a . x} (t) + {rel}_{v_sensor 2. rel_pos . pos . frame_b . x} (t), {rel}_{v_sensor 2. rel_pos . pos . frame_b . y} (t) - {rel}_{v_sensor 2. rel_pos . pos . frame_a . y} (t), {rel}_{v_sensor 2. rel_pos . pos . frame_b . phi} (t) - {rel}_{v_sensor 2. rel_pos . pos . frame_a . phi} (t)) \\ {rel}_{v_sensor 2. transform . frame_a . fx} (t) = 0 \\ {rel}_{v_sensor 2. transform . frame_a . fy} (t) = 0 \\ {rel}_{v_sensor 2. transform . frame_a . tau} (t) = 0 \\ {rel}_{v_sensor 2. transform . frame_b . fx} (t) = 0 \\ {rel}_{v_sensor 2. transform . frame_b . fy} (t) = 0 \\ {rel}_{v_sensor 2. transform . frame_b . tau} (t) = 0 \\ {rel}_{v_sensor 2. transform . r_in} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 2. transform . x_in} (t), {rel}_{v_sensor 2. transform . y_in} (t), {rel}_{v_sensor 2. transform . phi_in} (t)) \\ {rel}_{v_sensor 2. transform . R 1} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{v_sensor 2. transform . frame_a . phi} (t)), \sin ({rel}_{v_sensor 2. transform . frame_a . phi} (t)), 0, - \sin ({rel}_{v_sensor 2. transform . frame_a . phi} (t)), \cos ({rel}_{v_sensor 2. transform . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{v_sensor 2. transform . rotation_matrix} (t) = [\begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{array}] \\ {rel}_{v_sensor 2. transform . r_out} (t) = {rel}_{v_sensor 2. transform . R 1} (t) \cdot {rel}_{v_sensor 2. transform . r_in} (t) \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{v_sensor 2. transform . x_out} (t), {rel}_{v_sensor 2. transform . y_out} (t), {rel}_{v_sensor 2. transform . phi_out} (t)) = {rel}_{v_sensor 2. transform . r_out} (t) \\ {rel}_{a_sensor 1. rpx} (t) = {rel}_{a_sensor 1. rel_pos . rel_x} (t) \\ {rel}_{a_sensor 1. rpy} (t) = {rel}_{a_sensor 1. rel_pos . rel_y} (t) \\ {rel}_{a_sensor 1. rpphi} (t) = {rel}_{a_sensor 1. rel_pos . rel_phi} (t) \\ {rel}_{a_sensor 1. vrpx} (t) = \frac{d \cdot {rel}_{a_sensor 1. rpx} (t)}{d t} \\ {rel}_{a_sensor 1. vrpy} (t) = \frac{d \cdot {rel}_{a_sensor 1. rpy} (t)}{d t} \\ {rel}_{a_sensor 1. vrpphi} (t) = \frac{d \cdot {rel}_{a_sensor 1. rpphi} (t)}{d t} \\ {rel}_{a_sensor 1. transform . x_in} (t) = \frac{d \cdot {rel}_{a_sensor 1. vrpx} (t)}{d t} \\ {rel}_{a_sensor 1. transform . y_in} (t) = \frac{d \cdot {rel}_{a_sensor 1. vrpy} (t)}{d t} \\ {rel}_{a_sensor 1. transform . phi_in} (t) = \frac{d \cdot {rel}_{a_sensor 1. vrpphi} (t)}{d t} \\ {rel}_{a_sensor 1. rel_a_x} (t) = {rel}_{a_sensor 1. transform . x_out} (t) \\ {rel}_{a_sensor 1. rel_a_y} (t) = {rel}_{a_sensor 1. transform . y_out} (t) \\ {rel}_{a_sensor 1. rel_alpha} (t) = {rel}_{a_sensor 1. transform . phi_out} (t) \\ connect (f r a m e_{a}, r e l_{p o s_{+} f r a m e_a}) \\ connect (f r a m e_{b}, r e l_{p o s_{+} f r a m e_b}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, t r a n s f o r m_{+} f r a m e_{b}) \\ {rel}_{a_sensor 1. rel_pos . rel_x} (t) = {rel}_{a_sensor 1. rel_pos . pos . rel_x} (t) \\ {rel}_{a_sensor 1. rel_pos . rel_y} (t) = {rel}_{a_sensor 1. rel_pos . pos . rel_y} (t) \\ {rel}_{a_sensor 1. rel_pos . rel_phi} (t) = {rel}_{a_sensor 1. rel_pos . pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{a_sensor 1. rel_pos . pos . frame_a . fx} (t) = 0 \\ {rel}_{a_sensor 1. rel_pos . pos . frame_a . fy} (t) = 0 \\ {rel}_{a_sensor 1. rel_pos . pos . frame_a . tau} (t) = 0 \\ {rel}_{a_sensor 1. rel_pos . pos . frame_b . fx} (t) = 0 \\ {rel}_{a_sensor 1. rel_pos . pos . frame_b . fy} (t) = 0 \\ {rel}_{a_sensor 1. rel_pos . pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 1. rel_pos . pos . rel_x} (t), {rel}_{a_sensor 1. rel_pos . pos . rel_y} (t), {rel}_{a_sensor 1. rel_pos . pos . rel_phi} (t)) = {rel}_{a_sensor 1. rel_pos . pos . r} (t) \\ {rel}_{a_sensor 1. rel_pos . pos . rotation_matrix} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{a_sensor 1. rel_pos . pos . frame_a . phi} (t)), \sin ({rel}_{a_sensor 1. rel_pos . pos . frame_a . phi} (t)), 0, - \sin ({rel}_{a_sensor 1. rel_pos . pos . frame_a . phi} (t)), \cos ({rel}_{a_sensor 1. rel_pos . pos . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{a_sensor 1. rel_pos . pos . r} (t) = transpose ({rel}_{a_sensor 1. rel_pos . pos . rotation_matrix} (t)) \cdot {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 1. rel_pos . pos . frame_b . x} (t) - {rel}_{a_sensor 1. rel_pos . pos . frame_a . x} (t), {rel}_{a_sensor 1. rel_pos . pos . frame_b . y} (t) - {rel}_{a_sensor 1. rel_pos . pos . frame_a . y} (t), {rel}_{a_sensor 1. rel_pos . pos . frame_b . phi} (t) - {rel}_{a_sensor 1. rel_pos . pos . frame_a . phi} (t)) \\ {rel}_{a_sensor 1. transform . frame_a . fx} (t) = 0 \\ {rel}_{a_sensor 1. transform . frame_a . fy} (t) = 0 \\ {rel}_{a_sensor 1. transform . frame_a . tau} (t) = 0 \\ {rel}_{a_sensor 1. transform . frame_b . fx} (t) = 0 \\ {rel}_{a_sensor 1. transform . frame_b . fy} (t) = 0 \\ {rel}_{a_sensor 1. transform . frame_b . tau} (t) = 0 \\ {rel}_{a_sensor 1. transform . r_in} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 1. transform . x_in} (t), {rel}_{a_sensor 1. transform . y_in} (t), {rel}_{a_sensor 1. transform . phi_in} (t)) \\ {rel}_{a_sensor 1. transform . R 1} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{a_sensor 1. transform . frame_a . phi} (t)), \sin ({rel}_{a_sensor 1. transform . frame_a . phi} (t)), 0, - \sin ({rel}_{a_sensor 1. transform . frame_a . phi} (t)), \cos ({rel}_{a_sensor 1. transform . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{a_sensor 1. transform . rotation_matrix} (t) = [\begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{array}] \\ {rel}_{a_sensor 1. transform . r_out} (t) = {rel}_{a_sensor 1. transform . R 1} (t) \cdot {rel}_{a_sensor 1. transform . r_in} (t) \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 1. transform . x_out} (t), {rel}_{a_sensor 1. transform . y_out} (t), {rel}_{a_sensor 1. transform . phi_out} (t)) = {rel}_{a_sensor 1. transform . r_out} (t) \\ {rel}_{a_sensor 2. rpx} (t) = {rel}_{a_sensor 2. rel_pos . rel_x} (t) \\ {rel}_{a_sensor 2. rpy} (t) = {rel}_{a_sensor 2. rel_pos . rel_y} (t) \\ {rel}_{a_sensor 2. rpphi} (t) = {rel}_{a_sensor 2. rel_pos . rel_phi} (t) \\ {rel}_{a_sensor 2. vrpx} (t) = \frac{d \cdot {rel}_{a_sensor 2. rpx} (t)}{d t} \\ {rel}_{a_sensor 2. vrpy} (t) = \frac{d \cdot {rel}_{a_sensor 2. rpy} (t)}{d t} \\ {rel}_{a_sensor 2. vrpphi} (t) = \frac{d \cdot {rel}_{a_sensor 2. rpphi} (t)}{d t} \\ {rel}_{a_sensor 2. transform . x_in} (t) = \frac{d \cdot {rel}_{a_sensor 2. vrpx} (t)}{d t} \\ {rel}_{a_sensor 2. transform . y_in} (t) = \frac{d \cdot {rel}_{a_sensor 2. vrpy} (t)}{d t} \\ {rel}_{a_sensor 2. transform . phi_in} (t) = \frac{d \cdot {rel}_{a_sensor 2. vrpphi} (t)}{d t} \\ {rel}_{a_sensor 2. rel_a_x} (t) = {rel}_{a_sensor 2. transform . x_out} (t) \\ {rel}_{a_sensor 2. rel_a_y} (t) = {rel}_{a_sensor 2. transform . y_out} (t) \\ {rel}_{a_sensor 2. rel_alpha} (t) = {rel}_{a_sensor 2. transform . phi_out} (t) \\ connect (f r a m e_{a}, r e l_{p o s_{+} f r a m e_a}) \\ connect (f r a m e_{b}, r e l_{p o s_{+} f r a m e_b}) \\ connect (f r a m e_{a}, t r a n s f o r m_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, t r a n s f o r m_{+} f r a m e_{b}) \\ {rel}_{a_sensor 2. rel_pos . rel_x} (t) = {rel}_{a_sensor 2. rel_pos . pos . rel_x} (t) \\ {rel}_{a_sensor 2. rel_pos . rel_y} (t) = {rel}_{a_sensor 2. rel_pos . pos . rel_y} (t) \\ {rel}_{a_sensor 2. rel_pos . rel_phi} (t) = {rel}_{a_sensor 2. rel_pos . pos . rel_phi} (t) \\ connect (f r a m e_{a}, p o s_{+} f r a m e_{a}) \\ connect (f r a m e_{b}, p o s_{+} f r a m e_{b}) \\ {rel}_{a_sensor 2. rel_pos . pos . frame_a . fx} (t) = 0 \\ {rel}_{a_sensor 2. rel_pos . pos . frame_a . fy} (t) = 0 \\ {rel}_{a_sensor 2. rel_pos . pos . frame_a . tau} (t) = 0 \\ {rel}_{a_sensor 2. rel_pos . pos . frame_b . fx} (t) = 0 \\ {rel}_{a_sensor 2. rel_pos . pos . frame_b . fy} (t) = 0 \\ {rel}_{a_sensor 2. rel_pos . pos . frame_b . tau} (t) = 0 \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 2. rel_pos . pos . rel_x} (t), {rel}_{a_sensor 2. rel_pos . pos . rel_y} (t), {rel}_{a_sensor 2. rel_pos . pos . rel_phi} (t)) = {rel}_{a_sensor 2. rel_pos . pos . r} (t) \\ {rel}_{a_sensor 2. rel_pos . pos . rotation_matrix} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{a_sensor 2. rel_pos . pos . frame_a . phi} (t)), \sin ({rel}_{a_sensor 2. rel_pos . pos . frame_a . phi} (t)), 0, - \sin ({rel}_{a_sensor 2. rel_pos . pos . frame_a . phi} (t)), \cos ({rel}_{a_sensor 2. rel_pos . pos . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{a_sensor 2. rel_pos . pos . r} (t) = transpose ({rel}_{a_sensor 2. rel_pos . pos . rotation_matrix} (t)) \cdot {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 2. rel_pos . pos . frame_b . x} (t) - {rel}_{a_sensor 2. rel_pos . pos . frame_a . x} (t), - {rel}_{a_sensor 2. rel_pos . pos . frame_a . y} (t) + {rel}_{a_sensor 2. rel_pos . pos . frame_b . y} (t), - {rel}_{a_sensor 2. rel_pos . pos . frame_a . phi} (t) + {rel}_{a_sensor 2. rel_pos . pos . frame_b . phi} (t)) \\ {rel}_{a_sensor 2. transform . frame_a . fx} (t) = 0 \\ {rel}_{a_sensor 2. transform . frame_a . fy} (t) = 0 \\ {rel}_{a_sensor 2. transform . frame_a . tau} (t) = 0 \\ {rel}_{a_sensor 2. transform . frame_b . fx} (t) = 0 \\ {rel}_{a_sensor 2. transform . frame_b . fy} (t) = 0 \\ {rel}_{a_sensor 2. transform . frame_b . tau} (t) = 0 \\ {rel}_{a_sensor 2. transform . r_in} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 2. transform . x_in} (t), {rel}_{a_sensor 2. transform . y_in} (t), {rel}_{a_sensor 2. transform . phi_in} (t)) \\ {rel}_{a_sensor 2. transform . R 1} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos ({rel}_{a_sensor 2. transform . frame_a . phi} (t)), \sin ({rel}_{a_sensor 2. transform . frame_a . phi} (t)), 0, - \sin ({rel}_{a_sensor 2. transform . frame_a . phi} (t)), \cos ({rel}_{a_sensor 2. transform . frame_a . phi} (t)), 0, 0, 0, 1) \\ {rel}_{a_sensor 2. transform . rotation_matrix} (t) = [\begin{array}{ccc} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{array}] \\ {rel}_{a_sensor 2. transform . r_out} (t) = {rel}_{a_sensor 2. transform . R 1} (t) \cdot {rel}_{a_sensor 2. transform . r_in} (t) \\ {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rel}_{a_sensor 2. transform . x_out} (t), {rel}_{a_sensor 2. transform . y_out} (t), {rel}_{a_sensor 2. transform . phi_out} (t)) = {rel}_{a_sensor 2. transform . r_out} (t) \\ {distance . frame}_{a . fx} (t) = 0 \\ {distance . frame}_{a . fy} (t) = 0 \\ {distance . frame}_{a . tau} (t) = 0 \\ {distance . frame}_{b . fx} (t) = 0 \\ {distance . frame}_{b . fy} (t) = 0 \\ {distance . frame}_{b . tau} (t) = 0 \\ distance . L 2 (t) = {(- {distance . frame}_{a . x} (t) + {distance . frame}_{b . x} (t))}^{2} + {({distance . frame}_{b . y} (t) - {distance . frame}_{a . y} (t))}^{2} \\ {distance . s}_{small 2} (t) = {distance . s_{small}}^{2} \\ distance . distance (t) = ifelse ({distance . s}_{small 2} (t) < distance . L 2 (t), \sqrt{distance . L 2 (t)}, \frac{distance . s_{small}}{2} + \frac{distance . L 2 (t)}{2 \cdot distance . s_{small}}) \\ distance . arrow . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {distance . frame}_{a . x} (t), {distance . frame}_{a . y} (t), distance . z_{position}) \\ distance . arrow . 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) \\ {distance . arrow . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {distance . arrow . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], - {distance . frame}_{a . x} (t) + {distance . frame}_{b . x} (t), {distance . frame}_{b . y} (t) - {distance . frame}_{a . y} (t), 0) \\ {distance . arrow . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ distance . arrow . length (t) = distance . distance (t) \\ distance . arrow . width (t) = distance . {arrow}_{diameter} \\ distance . arrow . height (t) = distance . {arrow}_{diameter} \end{matrix}]

Source

dyad

"""
Sensor test with two free-falling bodies: validates all 6 sensor types.

Translates the "Sensors (two free falling bodies)" test from test_PlanarMechanics.jl.
Two bodies (m=1, I=1) start at the origin with zero velocity and fall under gravity.
A fixed base sits at the origin. Three absolute sensors are attached to body1, and six
relative sensors measure pairs (body1-vs-base and body1-vs-body2).
"""
test component SensorsTest
  world = World() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 615, "x2": 120, "y2": 715, "rot": 0}
      },
      "tags": []
    }
  }
  body1 = Body(m = 1.0, I = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 312, "y1": 715, "x2": 412, "y2": 815, "rot": 0}
      },
      "tags": []
    }
  }
  body2 = Body(m = 1.0, I = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 312, "y1": 1270, "x2": 412, "y2": 1370, "rot": 0}
      },
      "tags": []
    }
  }
  abs_pos_sensor = AbsolutePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 295, "x2": 265, "y2": 395, "rot": 0}
      },
      "tags": []
    }
  }
  abs_v_sensor = AbsoluteVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 820, "x2": 265, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  abs_a_sensor = AbsoluteAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 990, "x2": 260, "y2": 1090, "rot": 0}
      },
      "tags": []
    }
  }
  rel_pos_sensor1 = RelativePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 163.5,
          "y1": 415,
          "x2": 263.5,
          "y2": 515,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  rel_pos_sensor2 = RelativePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1145, "x2": 265, "y2": 1245, "rot": 0}
      },
      "tags": []
    }
  }
  rel_v_sensor1 = RelativeVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 163.5,
          "y1": 615,
          "x2": 263.5,
          "y2": 715,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  rel_v_sensor2 = RelativeVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1395, "x2": 265, "y2": 1495, "rot": 0}
      },
      "tags": []
    }
  }
  rel_a_sensor1 = RelativeAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 163.5, "y1": 85, "x2": 263.5, "y2": 185, "rot": 0}
      },
      "tags": []
    }
  }
  rel_a_sensor2 = RelativeAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1270, "x2": 265, "y2": 1370, "rot": 0}
      },
      "tags": []
    }
  }
  distance = MultibodyComponents.PlanarMechanics.Distance() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 370, "y1": 1070, "x2": 470, "y2": 1170, "rot": 0}
      },
      "tags": []
    }
  }
relations
  # initial conditions for body1
  initial body1.r = [0, 0]
  initial body1.v = [0, 0]
  initial body1.phi = 0
  initial body1.w = 0
  # initial conditions for body2
  initial body2.r = [0, 0]
  initial body2.v = [0, 0]
  initial body2.phi = 0
  initial body2.w = 0
  # absolute sensors on body1
  connect(body1.frame_a, abs_pos_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 292, "y": 765},
            {"x": 292, "y": 565},
            {"x": 145, "y": 565},
            {"x": 145, "y": 345}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(body1.frame_a, abs_v_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 292, "y": 765}, {"x": 292, "y": 970}], "E": -1},
        {"S": -1, "M": [{"x": 145, "y": 870}], "E": 2}
      ],
      "junctions": [{"x": 145, "y": 970}],
      "renderStyle": "standard"
    }
  }
  connect(body1.frame_a, abs_a_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 292, "y": 765},
            {"x": 292, "y": 970},
            {"x": 145, "y": 970},
            {"x": 145, "y": 1040}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  # rel_pos_sensor1: frame_a=body1, frame_b=base
  connect(body1.frame_a, rel_pos_sensor1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 292, "y": 765}], "E": -1},
        {"S": -1, "M": [{"x": 145, "y": 565}], "E": -2},
        {"S": -2, "M": [], "E": 2}
      ],
      "junctions": [{"x": 292, "y": 565}, {"x": 145, "y": 465}],
      "renderStyle": "standard"
    }
  }
  connect(world.frame_b, rel_pos_sensor1.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {
          "S": -1,
          "M": [{"x": 135, "y": 20}, {"x": 302, "y": 20}, {"x": 302, "y": 465}],
          "E": 2
        }
      ],
      "junctions": [{"x": 135, "y": 665}],
      "renderStyle": "standard"
    }
  }
  # rel_pos_sensor2: frame_a=body1, frame_b=body2
  connect(body1.frame_a, rel_pos_sensor2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 135, "y": 765}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 135, "y": 1195}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_pos_sensor2.frame_b, distance.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 282, "y": 1195}], "E": -2},
        {"S": -2, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 500, "y": 1120}, {"x": 500, "y": 1195}], "E": -2}
      ],
      "junctions": [{"x": 282, "y": 1320}, {"x": 280, "y": 1195}],
      "renderStyle": "standard"
    }
  }
  # rel_v_sensor1: frame_a=base, frame_b=body1
  connect(world.frame_b, rel_v_sensor1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(body1.frame_a, rel_v_sensor1.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 292, "y": 765}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 292, "y": 665}],
      "renderStyle": "standard"
    }
  }
  # rel_v_sensor2: frame_a=body1, frame_b=body2
  connect(body1.frame_a, rel_v_sensor2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 135, "y": 765}, {"x": 135, "y": 1445}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_v_sensor2.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 282, "y": 1320}, {"x": 282, "y": 1445}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  # rel_a_sensor1: frame_a=body1, frame_b=base
  connect(body1.frame_a, rel_a_sensor1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {
          "S": -1,
          "M": [{"x": 292, "y": 30}, {"x": 145, "y": 30}, {"x": 145, "y": 135}],
          "E": 2
        }
      ],
      "junctions": [{"x": 292, "y": 765}],
      "renderStyle": "standard"
    }
  }
  connect(world.frame_b, rel_a_sensor1.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 135, "y": 665}], "E": -1},
        {"S": -1, "M": [{"x": 282, "y": 240}, {"x": 282, "y": 135}], "E": 2}
      ],
      "junctions": [{"x": 135, "y": 240}],
      "renderStyle": "standard"
    }
  }
  # rel_a_sensor2: frame_a=body1, frame_b=body2
  connect(rel_a_sensor2.frame_a, body1.frame_a, distance.frame_a) {
    "Dyad": {
      "edges": [
        {"S": -1, "M": [], "E": 1},
        {"S": 2, "M": [{"x": 135, "y": 765}], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 3, "M": [], "E": -2}
      ],
      "junctions": [{"x": 135, "y": 1320}, {"x": 135, "y": 1120}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_a_sensor2.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Flattened Source

dyad

"""
Sensor test with two free-falling bodies: validates all 6 sensor types.

Translates the "Sensors (two free falling bodies)" test from test_PlanarMechanics.jl.
Two bodies (m=1, I=1) start at the origin with zero velocity and fall under gravity.
A fixed base sits at the origin. Three absolute sensors are attached to body1, and six
relative sensors measure pairs (body1-vs-base and body1-vs-body2).
"""
test component SensorsTest
  world = World() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 615, "x2": 120, "y2": 715, "rot": 0}
      },
      "tags": []
    }
  }
  body1 = Body(m = 1.0, I = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 312, "y1": 715, "x2": 412, "y2": 815, "rot": 0}
      },
      "tags": []
    }
  }
  body2 = Body(m = 1.0, I = 1.0) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 312, "y1": 1270, "x2": 412, "y2": 1370, "rot": 0}
      },
      "tags": []
    }
  }
  abs_pos_sensor = AbsolutePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 295, "x2": 265, "y2": 395, "rot": 0}
      },
      "tags": []
    }
  }
  abs_v_sensor = AbsoluteVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 820, "x2": 265, "y2": 920, "rot": 0}
      },
      "tags": []
    }
  }
  abs_a_sensor = AbsoluteAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 160, "y1": 990, "x2": 260, "y2": 1090, "rot": 0}
      },
      "tags": []
    }
  }
  rel_pos_sensor1 = RelativePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 163.5,
          "y1": 415,
          "x2": 263.5,
          "y2": 515,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  rel_pos_sensor2 = RelativePosition(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1145, "x2": 265, "y2": 1245, "rot": 0}
      },
      "tags": []
    }
  }
  rel_v_sensor1 = RelativeVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 163.5,
          "y1": 615,
          "x2": 263.5,
          "y2": 715,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  rel_v_sensor2 = RelativeVelocity(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1395, "x2": 265, "y2": 1495, "rot": 0}
      },
      "tags": []
    }
  }
  rel_a_sensor1 = RelativeAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 163.5, "y1": 85, "x2": 263.5, "y2": 185, "rot": 0}
      },
      "tags": []
    }
  }
  rel_a_sensor2 = RelativeAcceleration(resolve_in_frame = ResolveInFrame.World()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 1270, "x2": 265, "y2": 1370, "rot": 0}
      },
      "tags": []
    }
  }
  distance = MultibodyComponents.PlanarMechanics.Distance() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 370, "y1": 1070, "x2": 470, "y2": 1170, "rot": 0}
      },
      "tags": []
    }
  }
relations
  # initial conditions for body1
  initial body1.r = [0, 0]
  initial body1.v = [0, 0]
  initial body1.phi = 0
  initial body1.w = 0
  # initial conditions for body2
  initial body2.r = [0, 0]
  initial body2.v = [0, 0]
  initial body2.phi = 0
  initial body2.w = 0
  # absolute sensors on body1
  connect(body1.frame_a, abs_pos_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 292, "y": 765},
            {"x": 292, "y": 565},
            {"x": 145, "y": 565},
            {"x": 145, "y": 345}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(body1.frame_a, abs_v_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 292, "y": 765}, {"x": 292, "y": 970}], "E": -1},
        {"S": -1, "M": [{"x": 145, "y": 870}], "E": 2}
      ],
      "junctions": [{"x": 145, "y": 970}],
      "renderStyle": "standard"
    }
  }
  connect(body1.frame_a, abs_a_sensor.frame_a) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 292, "y": 765},
            {"x": 292, "y": 970},
            {"x": 145, "y": 970},
            {"x": 145, "y": 1040}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  # rel_pos_sensor1: frame_a=body1, frame_b=base
  connect(body1.frame_a, rel_pos_sensor1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 292, "y": 765}], "E": -1},
        {"S": -1, "M": [{"x": 145, "y": 565}], "E": -2},
        {"S": -2, "M": [], "E": 2}
      ],
      "junctions": [{"x": 292, "y": 565}, {"x": 145, "y": 465}],
      "renderStyle": "standard"
    }
  }
  connect(world.frame_b, rel_pos_sensor1.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {
          "S": -1,
          "M": [{"x": 135, "y": 20}, {"x": 302, "y": 20}, {"x": 302, "y": 465}],
          "E": 2
        }
      ],
      "junctions": [{"x": 135, "y": 665}],
      "renderStyle": "standard"
    }
  }
  # rel_pos_sensor2: frame_a=body1, frame_b=body2
  connect(body1.frame_a, rel_pos_sensor2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 135, "y": 765}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 135, "y": 1195}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_pos_sensor2.frame_b, distance.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": -1, "M": [{"x": 282, "y": 1195}], "E": -2},
        {"S": -2, "M": [], "E": 2},
        {"S": 3, "M": [{"x": 500, "y": 1120}, {"x": 500, "y": 1195}], "E": -2}
      ],
      "junctions": [{"x": 282, "y": 1320}, {"x": 280, "y": 1195}],
      "renderStyle": "standard"
    }
  }
  # rel_v_sensor1: frame_a=base, frame_b=body1
  connect(world.frame_b, rel_v_sensor1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(body1.frame_a, rel_v_sensor1.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 292, "y": 765}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 292, "y": 665}],
      "renderStyle": "standard"
    }
  }
  # rel_v_sensor2: frame_a=body1, frame_b=body2
  connect(body1.frame_a, rel_v_sensor2.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 135, "y": 765}, {"x": 135, "y": 1445}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_v_sensor2.frame_b) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 282, "y": 1320}, {"x": 282, "y": 1445}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  # rel_a_sensor1: frame_a=body1, frame_b=base
  connect(body1.frame_a, rel_a_sensor1.frame_a) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {
          "S": -1,
          "M": [{"x": 292, "y": 30}, {"x": 145, "y": 30}, {"x": 145, "y": 135}],
          "E": 2
        }
      ],
      "junctions": [{"x": 292, "y": 765}],
      "renderStyle": "standard"
    }
  }
  connect(world.frame_b, rel_a_sensor1.frame_b) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 135, "y": 665}], "E": -1},
        {"S": -1, "M": [{"x": 282, "y": 240}, {"x": 282, "y": 135}], "E": 2}
      ],
      "junctions": [{"x": 135, "y": 240}],
      "renderStyle": "standard"
    }
  }
  # rel_a_sensor2: frame_a=body1, frame_b=body2
  connect(rel_a_sensor2.frame_a, body1.frame_a, distance.frame_a) {
    "Dyad": {
      "edges": [
        {"S": -1, "M": [], "E": 1},
        {"S": 2, "M": [{"x": 135, "y": 765}], "E": -2},
        {"S": -2, "M": [], "E": -1},
        {"S": 3, "M": [], "E": -2}
      ],
      "junctions": [{"x": 135, "y": 1320}, {"x": 135, "y": 1120}],
      "renderStyle": "standard"
    }
  }
  connect(body2.frame_a, rel_a_sensor2.frame_b) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Scalar Types

Partial Types

Enumerated Types

Function Types

Partial Types

Enumerated Types

Partial Types

Partial Types

Partial Types

Scalar Types

Partial Types

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Partial Types

Enumerated Types

PlanarMechanics.SensorsTest ​

Usage ​

Behavior ​

Source ​

Test Cases ​

Test Case case1 ​

Related ​

`PlanarMechanics.SensorsTest`

Usage

Behavior

Source

Test Cases

Test Case `case1`

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