.PlanarMechanics.Sensors.AbsolutePosition .PlanarMechanics.Sensors.AbsolutePositionThe absolute position and angle vector
[x y φ] of the origin of
frame_a is determined and provided at the output
signal connector r.
Via parameter resolveInFrame it is defined, in
which frame the position vector is resolved.
| resolveInFrame = … | Output vector resolved in |
|---|---|
| Types.ResolveInFrameA.world | world frame |
| Types.ResolveInFrameA.frame_a | frame_a |
| Types.ResolveInFrameA.frame_resolve | frame_resolve (must be connected) |
If resolveInFrame =
Types.ResolveInFrameA.frame_resolve, the conditional
connector frame_resolve is enabled
and r is resolved in the frame, to which
frame_resolve is connected. Note, if this connector is
enabled, it must be connected.
Example: If resolveInFrame =
Types.ResolveInFrameA.frame_resolve, the output vector is
computed as:
![r =transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0, 0, 1]) * [frame_a.x;frame_a.y;frame_a.phi] - [0;0;frame_resolve.phi]](PlanarMechanics%201.6.0/Resources/Images/equations/equation-dcUlfcwL.png)
Developed 2010 at the DLR Institute of System
Dynamics and Control