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PartialRelativeSensor.md

PartialRelativeSensor ​

A foundational partial model for measuring relative kinematic variables between two ideal mechanical splines.

This partial component provides the essential structure for sensors that measure a relative rotational quantity between two splines, denoted as spline_a and spline_b. It models an ideal sensing interaction by ensuring that the torques at the two connection points are equal and opposite, resulting in no net torque being applied to the system under measurement. This behavior is captured by the equation:

spline_a.τ+spline_b.τ=0

math Specific sensors derived from this partial model would implement the equations for the particular relative variable (e.g., relative angle, relative speed) being measured.

Usage ​

PartialRelativeSensor()

Connectors ​

Source ​

dyad
# A foundational partial model for measuring relative kinematic variables between two ideal mechanical splines.
#
# This partial component provides the essential structure for sensors that measure
# a relative rotational quantity between two splines, denoted as `spline_a` and
# `spline_b`. It models an ideal sensing interaction by ensuring that the torques at
# the two connection points are equal and opposite, resulting in no net torque being
# applied to the system under measurement. This behavior is captured by the equation:
# ```math
# \text{spline\_a}.\tau + \text{spline\_b}.\tau = 0
# ```math
# Specific sensors derived from this partial model would implement the equations for
# the particular relative variable (e.g., relative angle, relative speed) being measured.
partial component PartialRelativeSensor
  # Left spline connector for the sensor.
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Right spline connector for the sensor.
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  0 = spline_a.tau+spline_b.tau
end
Flattened Source
dyad
# A foundational partial model for measuring relative kinematic variables between two ideal mechanical splines.
#
# This partial component provides the essential structure for sensors that measure
# a relative rotational quantity between two splines, denoted as `spline_a` and
# `spline_b`. It models an ideal sensing interaction by ensuring that the torques at
# the two connection points are equal and opposite, resulting in no net torque being
# applied to the system under measurement. This behavior is captured by the equation:
# ```math
# \text{spline\_a}.\tau + \text{spline\_b}.\tau = 0
# ```math
# Specific sensors derived from this partial model would implement the equations for
# the particular relative variable (e.g., relative angle, relative speed) being measured.
partial component PartialRelativeSensor
  # Left spline connector for the sensor.
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Right spline connector for the sensor.
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  0 = spline_a.tau+spline_b.tau
metadata {}
end


Test Cases ​

This is setup code, that must be run before each test case.

julia
using RotationalComponents
using ModelingToolkit, OrdinaryDiffEqDefault
using Plots
using CSV, DataFrames

snapshotsdir = joinpath(dirname(dirname(pathof(RotationalComponents))), "test", "snapshots")
"/home/actions-runner-10/.julia/packages/RotationalComponents/0VPxm/test/snapshots"

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