Changeset 1050 for trunk/Modelica/Mechanics/MultiBody/Frames.mo

Timestamp:

02/24/08 19:43:25 (9 months ago)

Author:

otter

Message:

Unit errors in MultiBody corrected (unit="1" added for unit vectors, many missing units added, e.g. for RealInput)

Files:

• trunk/Modelica/Mechanics/MultiBody/Frames.mo (modified) (16 diffs)

trunk/Modelica/Mechanics/MultiBody/Frames.mo

@@ -404 +404 @@
     import Modelica.Math;
     extends Modelica.Icons.Function;
-    input Real e[3] "Normalized axis of rotation (must have length=1)";
+    input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
     input Modelica.SIunits.Angle angle
       "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -420 +420 @@
 
     extends Modelica.Icons.Function;
-    input Real e[3]
+    input Real e[3](each final unit="1")
       "Normalized axis of rotation to rotate frame 1 around e into frame 2 (must have length=1)";
     input Real v1[3]
@@ -606 +606 @@
 </HTML>"));
   protected
-    Real e1_1[3] "First rotation axis, resolved in frame 1";
-    Real e2_1a[3] "Second rotation axis, resolved in frame 1a";
-    Real e3_1[3] "Third rotation axis, resolved in frame 1";
-    Real e3_2[3] "Third rotation axis, resolved in frame 2";
+    Real e1_1[3](each final unit="1") "First rotation axis, resolved in frame 1";
+    Real e2_1a[3](each final unit="1") "Second rotation axis, resolved in frame 1a";
+    Real e3_1[3](each final unit="1") "Third rotation axis, resolved in frame 1";
+    Real e3_2[3](each final unit="1") "Third rotation axis, resolved in frame 2";
     Real A
       "Coefficient A in the equation A*cos(angles[1])+B*sin(angles[1]) = 0";
@@ -718 +718 @@
   function from_nxy "Return fixed orientation object from n_x and n_y vectors"
     extends Modelica.Icons.Function;
-    input Real n_x[3]
+    input Real n_x[3](each final unit="1")
       "Vector in direction of x-axis of frame 2, resolved in frame 1";
-    input Real n_y[3]
+    input Real n_y[3](each final unit="1")
       "Vector in direction of y-axis of frame 2, resolved in frame 1";
     output Orientation R "Orientation object to rotate frame 1 into frame 2";
@@ -746 +746 @@
   protected
     Real abs_n_x=sqrt(n_x*n_x);
-    Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-    Real n_z_aux[3]=cross(e_x, n_y);
-    Real n_y_aux[3]=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
+    Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+    Real n_z_aux[3](each final unit="1")=cross(e_x, n_y);
+    Real n_y_aux[3](each final unit="1")=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
          > 1.0e-6 then {0,1,0} else {1,0,0});
-    Real e_z_aux[3]=cross(e_x, n_y_aux);
-    Real e_z[3]=e_z_aux/sqrt(e_z_aux*e_z_aux);
+    Real e_z_aux[3](each final unit="1")=cross(e_x, n_y_aux);
+    Real e_z[3](each final unit="1")=e_z_aux/sqrt(e_z_aux*e_z_aux);
   algorithm
     R := Orientation(T={e_x,cross(e_z, e_x),e_z},w= zeros(3));
@@ -758 +758 @@
   function from_nxz "Return fixed orientation object from n_x and n_z vectors"
     extends Modelica.Icons.Function;
-    input Real n_x[3]
+    input Real n_x[3](each final unit="1")
       "Vector in direction of x-axis of frame 2, resolved in frame 1";
-    input Real n_z[3]
+    input Real n_z[3](each final unit="1")
       "Vector in direction of z-axis of frame 2, resolved in frame 1";
     output Orientation R "Orientation object to rotate frame 1 into frame 2";
@@ -786 +786 @@
   protected
     Real abs_n_x=sqrt(n_x*n_x);
-    Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-    Real n_y_aux[3]=cross(n_z, e_x);
-    Real n_z_aux[3]=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
+    Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+    Real n_y_aux[3](each final unit="1")=cross(n_z, e_x);
+    Real n_z_aux[3](each final unit="1")=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
          > 1.0e-6 then {0,0,1} else {1,0,0});
-    Real e_y_aux[3]=cross(n_z_aux, e_x);
-    Real e_y[3]=e_y_aux/sqrt(e_y_aux*e_y_aux);
+    Real e_y_aux[3](each final unit="1")=cross(n_z_aux, e_x);
+    Real e_y[3](each final unit="1")=e_y_aux/sqrt(e_y_aux*e_y_aux);
   algorithm
     R := Orientation(T={e_x,e_y,cross(e_x, e_y)},w= zeros(3));
@@ -925 +925 @@
     extends Modelica.Icons.Function;
     input Integer axis(min=1, max=3) "Axis vector to be returned";
-    output Real e[3] "Unit axis vector";
+    output Real e[3](each final unit="1") "Unit axis vector";
     annotation(Inline=true);
   algorithm
@@ -1245 +1245 @@
       import Modelica.Math;
       extends Modelica.Icons.Function;
-      input Real e[3] "Normalized axis of rotation (must have length=1)";
+      input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
       input Modelica.SIunits.Angle angle
         "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -1660 +1660 @@
       import Modelica.Math;
       extends Modelica.Icons.Function;
-      input Real e[3] "Normalized axis of rotation (must have length=1)";
+      input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
       input Modelica.SIunits.Angle angle
         "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -1675 +1675 @@
 
       extends Modelica.Icons.Function;
-      input Real e[3]
+      input Real e[3](each final unit="1")
         "Normalized axis of rotation to rotate frame 1 around e into frame 2 (must have length=1)";
       input Real v1[3]
@@ -1850 +1850 @@
 </HTML>"));
     protected
-      Real e1_1[3] "First rotation axis, resolved in frame 1";
-      Real e2_1a[3] "Second rotation axis, resolved in frame 1a";
-      Real e3_1[3] "Third rotation axis, resolved in frame 1";
-      Real e3_2[3] "Third rotation axis, resolved in frame 2";
+      Real e1_1[3](each final unit="1") "First rotation axis, resolved in frame 1";
+      Real e2_1a[3](each final unit="1") "Second rotation axis, resolved in frame 1a";
+      Real e3_1[3](each final unit="1") "Third rotation axis, resolved in frame 1";
+      Real e3_2[3](each final unit="1") "Third rotation axis, resolved in frame 2";
       Real A
         "Coefficient A in the equation A*cos(angles[1])+B*sin(angles[1]) = 0";
@@ -1963 +1963 @@
     function from_nxy "Return orientation object from n_x and n_y vectors"
       extends Modelica.Icons.Function;
-      input Real n_x[3]
+      input Real n_x[3](each final unit="1")
         "Vector in direction of x-axis of frame 2, resolved in frame 1";
-      input Real n_y[3]
+      input Real n_y[3](each final unit="1")
         "Vector in direction of y-axis of frame 2, resolved in frame 1";
       output TransformationMatrices.Orientation T
@@ -1992 +1992 @@
     protected
       Real abs_n_x=sqrt(n_x*n_x);
-      Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-      Real n_z_aux[3]=cross(e_x, n_y);
-      Real n_y_aux[3]=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
+      Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+      Real n_z_aux[3](each final unit="1")=cross(e_x, n_y);
+      Real n_y_aux[3](each final unit="1")=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
            > 1.0e-6 then {0,1,0} else {1,0,0});
-      Real e_z_aux[3]=cross(e_x, n_y_aux);
-      Real e_z[3]=e_z_aux/sqrt(e_z_aux*e_z_aux);
+      Real e_z_aux[3](each final unit="1")=cross(e_x, n_y_aux);
+      Real e_z[3](each final unit="1")=e_z_aux/sqrt(e_z_aux*e_z_aux);
     algorithm
       T := {e_x,cross(e_z, e_x),e_z};
@@ -2004 +2004 @@
     function from_nxz "Return orientation object from n_x and n_z vectors"
       extends Modelica.Icons.Function;
-      input Real n_x[3]
+      input Real n_x[3](each final unit="1")
         "Vector in direction of x-axis of frame 2, resolved in frame 1";
-      input Real n_z[3]
+      input Real n_z[3](each final unit="1")
         "Vector in direction of z-axis of frame 2, resolved in frame 1";
       output TransformationMatrices.Orientation T
@@ -2033 +2033 @@
     protected
       Real abs_n_x=sqrt(n_x*n_x);
-      Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-      Real n_y_aux[3]=cross(n_z, e_x);
-      Real n_z_aux[3]=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
+      Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+      Real n_y_aux[3](each final unit="1")=cross(n_z, e_x);
+      Real n_z_aux[3](each final unit="1")=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
            > 1.0e-6 then {0,0,1} else {1,0,0});
-      Real e_y_aux[3]=cross(n_z_aux, e_x);
-      Real e_y[3]=e_y_aux/sqrt(e_y_aux*e_y_aux);
+      Real e_y_aux[3](each final unit="1")=cross(n_z_aux, e_x);
+      Real e_y[3](each final unit="1")=e_y_aux/sqrt(e_y_aux*e_y_aux);
     algorithm
       T := {e_x,e_y,cross(e_x, e_y)};