Name

Description

${\mathrm{frame}}_a$

Base of rigid body frame. This should be attached to a rigid body center of mass frame.

${\mathrm{frame}}_b$

Tip of rigid body frame

Symbol

Default

Units

Description

Modelica ID

${\stackrel{\&conjugate0;}{r}}_{\mathrm{XYZ}}$

$\left[\begin{array}{ccc}1& 0& 0\end{array}\right]$

$m$

The x,y,z offset of the outboard frame with respect to the inboard frame

InitPos

${\mathrm{Type}}_{\mathrm{R}}$

Euler Angles

Indicates whether the rotation matrix, ${\stackrel{\&conjugate0;}{R}}_{}$, or the rotation sequence, ${\stackrel{\&conjugate0;}{\theta }}_{\mathrm{\zeta ,\eta ,\xi }}$, is used to express the orientation of the outboard frame with respect to the inboard frame

RSelect

${\left[R\right]}_{}$

$\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]$

The rotation matrix that transforms a vector expressed in the outboard frame to the inboard frame

RMat

${\mathrm{Type}}_{\mathrm{\θ}}$

$\left[\begin{array}{ccc}1& 2& 3\end{array}\right]$

Indicates the sequence of subsequent rotations describing the orientation of the outboard frame with respect to the inboard frame. For example, $\left[1\,2\,3\right]$ refers to sequential rotations about the x, then y, then z axis (123 - Euler angles)

RotType

${\stackrel{\&conjugate0;}{\theta }}_{\mathrm{\zeta ,\eta ,\xi }}$

$\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$

$\mathrm{rad}$

Rotations about the axes selected in ${\mathrm{Type}}_{\mathrm{\theta }}$

InitAng