Changeset 1051 for branches/maintenance/2.2.2

Timestamp:

02/24/08 20:03:46 (8 months ago)

Author:

otter

Message:

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

Location:

branches/maintenance/2.2.2/Modelica

Files:

• Mechanics/MultiBody/Forces.mo (modified) (2 diffs)
• Mechanics/MultiBody/Frames.mo (modified) (12 diffs)
• Mechanics/MultiBody/Interfaces.mo (modified) (1 diff)
• Mechanics/MultiBody/Joints.mo (modified) (20 diffs)
• Mechanics/MultiBody/Types.mo (modified) (1 diff)
• Mechanics/MultiBody/Visualizers.mo (modified) (4 diffs)
• Mechanics/MultiBody/parts.mo (modified) (2 diffs)
• package.mo (modified) (1 diff)

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Forces.mo

@@ -1565 +1565 @@
     SI.Position r_rel_0[3] 
       "Position vector from frame_a to frame_b resolved in world frame";
-    Real e_rel_0[3] 
+    Real e_rel_0[3](each final unit="1") 
       "Unit vector in direction from frame_a to frame_b, resolved in world frame";
     annotation (
@@ -1880 +1880 @@
     SI.Position r_rel_0[3] 
       "Position vector from frame_a to frame_b resolved in world frame";
-    Real e_rel_0[3] 
+    Real e_rel_0[3](each final unit="1") 
       "Unit vector in direction from frame_a to frame_b, resolved in world frame";
     annotation (

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Frames.mo

@@ -394 +394 @@
     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";
@@ -409 +409 @@
     
     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] 
@@ -547 +547 @@
       "Rotation angles around the axes defined in 'sequence' such that R=Frames.axesRotation(sequence,angles); -pi < angles[i] <= pi";
   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";
@@ -703 +703 @@
   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";
   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 abs_n_x(final unit="1")=sqrt(n_x*n_x);
+    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));
@@ -743 +743 @@
   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";
   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 abs_n_x(final unit="1")=sqrt(n_x*n_x);
+    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));
@@ -918 +918 @@
     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";
   algorithm 
     e := if axis == 1 then {1,0,0} else (if axis == 2 then {0,1,0} else {0,0,1});
@@ -1225 +1225 @@
       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";
@@ -1621 +1621 @@
       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";
@@ -1635 +1635 @@
       
       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] 
@@ -1762 +1762 @@
         "Rotation angles around the axes defined in 'sequence' such that T=TransformationMatrices.axesRotation(sequence,angles); -pi < angles[i] <= pi";
     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";
@@ -1919 +1919 @@
     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 
         "Orientation object to rotate frame 1 into frame 2";
     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 abs_n_x(final unit="1")=sqrt(n_x*n_x);
+      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};
@@ -1960 +1960 @@
     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 
         "Orientation object to rotate frame 1 into frame 2";
     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 abs_n_x(final unit="1")=sqrt(n_x*n_x);
+      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)};

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Interfaces.mo

@@ -624 +624 @@
     SI.Position s 
       "(Guarded) distance between the origin of frame_a and the origin of frame_b (>= s_small))";
-    Real e_a[3] 
+    Real e_a[3](each final unit="1") 
       "Unit vector on the line connecting the origin of frame_a with the origin of frame_b resolved in frame_a (directed from frame_a to frame_b)";
-    Real r_rel_a[3] 
+    Modelica.SIunits.Position r_rel_a[3] 
       "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
   protected 

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Joints.mo

@@ -914 +914 @@
   protected 
     parameter Integer ndim=if world.enableAnimation and animation then 1 else 0;
-    parameter Real e[3]=Frames.normalize(n);
+    parameter Real e[3](each final unit="1")=Frames.normalize(n);
   protected 
     Visualizers.Advanced.Shape box_x[ndim](
@@ -1697 +1697 @@
     SI.Position rRod_a[3] 
       "Position vector from frame_a to frame_b resolved in frame_a";
-    Real eRod_a[3] 
+    Real eRod_a[3](each final unit="1") 
       "Unit vector in direction from frame_a to frame_b, resolved in frame_a";
     SI.Position r_CM_0[3] 
@@ -2044 +2044 @@
       Frames.length(rRod_ia) 
       "Length of rod (distance between origin of frame_a and origin of frame_b)";
-    final parameter Real eRod_ia[3]=Frames.normalize(rRod_ia) 
+    final parameter Real eRod_ia[3](each final unit="1")=Frames.normalize(rRod_ia) 
       "Unit vector from origin of frame_a to origin of frame_b, resolved in frame_ia";
-    final parameter Real e2_ia[3]=Frames.normalize(cross(n1_a, eRod_ia)) 
+    final parameter Real e2_ia[3](each final unit="1")=Frames.normalize(cross(n1_a, eRod_ia)) 
       "Unit vector in direction of axis 2 of universal joint, resolved in frame_ia (orthogonal to n1_a and eRod_ia; note: frame_ia is parallel to frame_a when the universal joint angles are zero)";
-    final parameter Real e3_ia[3]=cross(eRod_ia, e2_ia) 
+    final parameter Real e3_ia[3](each final unit="1")=cross(eRod_ia, e2_ia) 
       "Unit vector perpendicular to eRod_ia and e2_ia, resolved in frame_ia";
     SI.Power totalPower 
@@ -2054 +2054 @@
     SI.Force f_b_a1[3] 
       "frame_b.f without f_rod part, resolved in frame_a (needed for analytic loop handling)";
-    Real eRod_a[3] 
+    Real eRod_a[3](each final unit="1") 
       "Unit vector in direction of rRod_a, resolved in frame_a (needed for analytic loop handling)";
     SI.Position rRod_0[3](start=rRod_ia) 
@@ -2327 +2327 @@
     SI.Force f_ia_a[3] "frame_ia.f resolved in frame_a";
     SI.Torque t_ia_a[3] "frame_ia.t resolved in frame_a";
-    Real n2_a[3] 
+    Real n2_a[3](each final unit="1") 
       "Vector in direction of axis 2 of the universal joint (e2_ia), resolved in frame_a";
     Real length2_n2_a(start=1, unit="m2") "Square of length of vector n2_a";
     SI.Length length_n2_a "Length of vector n2_a";
-    Real e2_a[3] 
+    Real e2_a[3](each final unit="1") 
       "Unit vector in direction of axis 2 of the universal joint (e2_ia), resolved in frame_a";
-    Real e3_a[3] 
+    Real e3_a[3](each final unit="1") 
       "Unit vector perpendicular to eRod_ia and e2_a, resolved in frame_a";
-    Real der_rRod_a_L[3] "= der(rRod_a)/rodLength";
+    Real der_rRod_a_L[3](each final unit="1/s") "= der(rRod_a)/rodLength";
     SI.AngularVelocity w_rel_ia1[3];
     Frames.Orientation R_rel_ia1;
@@ -2838 +2838 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eAxis_ia[3]=Frames.normalize(nAxis_ia) 
+      final parameter Real eAxis_ia[3](each final unit="1")=Frames.normalize(nAxis_ia) 
         "Unit vector from origin of frame_a to origin of frame_b, resolved in frame_ia";
-      final parameter Real e2_ia[3]=Frames.normalize(cross(n1_a, eAxis_ia)) 
+      final parameter Real e2_ia[3](each final unit="1")=Frames.normalize(cross(n1_a, eAxis_ia)) 
         "Unit vector in direction of second rotation axis of universal joint, resolved in frame_ia";
-      final parameter Real e3_ia[3]=cross(eAxis_ia, e2_ia) 
+      final parameter Real e3_ia[3](each final unit="1")=cross(eAxis_ia, e2_ia) 
         "Unit vector perpendicular to eAxis_ia and e2_ia, resolved in frame_ia";
       SI.Position s 
@@ -3167 +3167 @@
       SI.Position rAxis_a[3] 
         "Position vector from origin of frame_a to origin of frame_b resolved in frame_a";
-      Real eAxis_a[3] 
+      Real eAxis_a[3](each final unit="1") 
         "Unit vector in direction of rAxis_a, resolved in frame_a";
-      Real e2_a[3] 
+      Real e2_a[3](each final unit="1") 
         "Unit vector in direction of second rotation axis of universal joint, resolved in frame_a";
-      Real e3_a[3] 
+      Real e3_a[3](each final unit="1") 
         "Unit vector perpendicular to eAxis_a and e2_a, resolved in frame_a";
-      Real n2_a[3] 
+      Real n2_a[3](each final unit="1") 
         "Vector in direction of second rotation axis of universal joint, resolved in frame_a";
       Real length2_n2_a(unit="m2") "Square of length of vector n2_a";
       SI.Length length_n2_a "Length of vector n2_a";
-      Real der_rAxis_a_L[3] "= der(rAxis_a)/axisLength";
+      Real der_rAxis_a_L[3](each final unit="1/s") "= der(rAxis_a)/axisLength";
       SI.AngularVelocity w_rel_ia1[3];
       Frames.Orientation R_ia1_a;
@@ -3477 +3477 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eRod1_ia[3]=rod1.eRod_ia 
+      final parameter Real eRod1_ia[3](each final unit="1")=rod1.eRod_ia 
         "Unit vector from origin of frame_a to origin of spherical joint, resolved in frame_ia";
-      final parameter Real e2_ia[3]=rod1.e2_ia 
+      final parameter Real e2_ia[3](each final unit="1")=rod1.e2_ia 
         "Unit vector in direction of axis 2 of universal joint, resolved in frame_ia";
       final parameter SI.Distance rod1Length=rod1.rodLength 
@@ -3973 +3973 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eRod1_ia[3]=rod1.eRod_ia 
+      final parameter Real eRod1_ia[3](each final unit="1")=rod1.eRod_ia 
         "Unit vector from origin of frame_a to origin of spherical joint, resolved in frame_ia";
-      final parameter Real e2_ia[3]=rod1.e2_ia 
+      final parameter Real e2_ia[3](each final unit="1")=rod1.e2_ia 
         "Unit vector in direction of axis 2 of universal joint, resolved in frame_ia";
       final parameter SI.Distance rod1Length=rod1.rodLength 
@@ -5126 +5126 @@
         "Axes of revolute joints resolved in frame_a (all axes are parallel to each other)"
         annotation (Evaluate=true);
-      final parameter Real n_b[3](fixed=false) = {0,0,1} 
+      final parameter Real n_b[3](each final unit="1", fixed=false) = {0,0,1} 
         "Axis of revolute joint fixed and resolved in frame_b" 
         annotation (Evaluate=true);
@@ -5160 +5160 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real e_a[3]=Frames.normalize(n_a) 
+      final parameter Real e_a[3](each final unit="1")=Frames.normalize(n_a) 
         "Unit vector along axes of rotations, resolved in frame_a";
-      final parameter Real e_ia[3]=jointUSR.e2_ia 
+      final parameter Real e_ia[3](each final unit="1")=jointUSR.e2_ia 
         "Unit vector along axes of rotations, resolved in frame_ia";
-      final parameter Real e_b[3]=jointUSR.revolute.e 
+      final parameter Real e_b[3](each final unit="1")=jointUSR.revolute.e 
         "Unit vector along axes of rotations, resolved in frame_b, frame_ib and frame_im";
       SI.Power totalPower=jointUSR.totalPower 
@@ -5470 +5470 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real e_a[3]=Frames.normalize(n_a) 
+      final parameter Real e_a[3](each final unit="1")=Frames.normalize(n_a) 
         "Unit vector along axes of rotations, resolved in frame_a";
-      final parameter Real e_ia[3]=jointUSP.e2_ia 
+      final parameter Real e_ia[3](each final unit="1")=jointUSP.e2_ia 
         "Unit vector along axes of rotations, resolved in frame_ia";
-      final parameter Real e_im[3](each fixed=false) 
+      final parameter Real e_im[3](each final unit="1",each fixed=false) 
         "Unit vector along axes of rotations, resolved in frame_im";
-      final parameter Real e_b[3]=jointUSP.prismatic.e 
+      final parameter Real e_b[3](each final unit="1")=jointUSP.prismatic.e 
         "Unit vector along axes of translation of the prismatic joint, resolved in frame_b and frame_ib";
       SI.Power totalPower=jointUSP.totalPower 
@@ -5847 +5847 @@
     protected 
       outer Modelica.Mechanics.MultiBody.World world;
-      parameter Real e[3]=Frames.normalize(n) 
+      parameter Real e[3](each final unit="1")=Frames.normalize(n) 
         "Unit vector in direction of rotation axis, resolved in frame_a (= same as in frame_b)";
-      parameter Real nnx_a[3]=if abs(e[1]) > 0.1 then {0,1,0} else (if abs(e[2])
+      parameter Real nnx_a[3](each final unit="1")=if abs(e[1]) > 0.1 then {0,1,0} else (if abs(e[2])
            > 0.1 then {0,0,1} else {1,0,0}) 
         "Arbitrary vector that is not aligned with rotation axis n" 
         annotation (Evaluate=true);
-      parameter Real ey_a[3]=Frames.normalize(cross(e, nnx_a)) 
+      parameter Real ey_a[3](each final unit="1")=Frames.normalize(cross(e, nnx_a)) 
         "Unit vector orthogonal to axis n of revolute joint, resolved in frame_a"
         annotation (Evaluate=true);
-      parameter Real ex_a[3]=cross(ey_a, e) 
+      parameter Real ex_a[3](each final unit="1")=cross(ey_a, e) 
         "Unit vector orthogonal to axis n of revolute joint and to ey_a, resolved in frame_a"
         annotation (Evaluate=true);
-      Real ey_b[3] "ey_a, resolved in frame_b";
-      Real ex_b[3] "ex_a, resolved in frame_b";
+      Real ey_b[3](each final unit="1") "ey_a, resolved in frame_b";
+      Real ex_b[3](each final unit="1") "ex_a, resolved in frame_b";
       Frames.Orientation R_rel 
         "Dummy or relative orientation object from frame_a to frame_b";
       Frames.Orientation R_rel_inv 
         "Dummy or relative orientation object from frame_b to frame_a";
-      Real r_rel_a[3] 
+      Modelica.SIunits.Position r_rel_a[3] 
         "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
       SI.Force f_c[2] "Dummy or constraint forces in direction of ex_a, ey_a";
@@ -6028 +6028 @@
         "= true, if generalized variables (s,v) shall be used as states (StateSelect.always)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real e[3]=Frames.normalize(n) 
+      final parameter Real e[3](each final unit="1")=Frames.normalize(n) 
         "Unit vector in direction of prismatic axis n";
       
@@ -6231 +6231 @@
       final parameter Boolean positiveBranch(fixed=false) 
         "Based on phi_guess, selection of one of the two solutions of the non-linear constraint equation";
-      final parameter Real e[3]=Modelica.Mechanics.MultiBody.Frames.normalize(n) 
+      final parameter Real e[3](each final unit="1")=Modelica.Mechanics.MultiBody.Frames.normalize(n) 
         "Unit vector in direction of rotation axis, resolved in frame_a";
       
@@ -6376 +6376 @@
         import Modelica.Math.*;
         input SI.Length L "Length of length constraint";
-        input Real e[3] 
+        input Real e[3](each final unit="1")
           "Unit vector along axis of rotation, resolved in frame_a (= same in frame_b)";
         input SI.Angle angle_guess 
@@ -6576 +6576 @@
       final parameter Boolean positiveBranch(fixed=false) 
         "Selection of one of the two solutions of the non-linear constraint equation";
-      final parameter Real e[3]=Modelica.Mechanics.MultiBody.Frames.normalize(n) 
+      final parameter Real e[3](each final unit="1")=Modelica.Mechanics.MultiBody.Frames.normalize(n) 
         "Unit vector in direction of translation axis, resolved in frame_a";
       SI.Position s 
@@ -6701 +6701 @@
       SI.Position r_b[3]=position_b 
         "Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of revolute joint";
-      Real rbra[3] "= rb - ra";
+      Modelica.SIunits.Position rbra[3] "= rb - ra";
       Real B "Coefficient B of equation: s*s + B*s + C = 0";
       Real C "Coefficient C of equation: s*s + B*s + C = 0";
@@ -6725 +6725 @@
         import Modelica.Math.*;
         input SI.Length L "Length of length constraint";
-        input Real e[3] 
+        input Real e[3](each final unit="1") 
           "Unit vector along axis of translation, resolved in frame_a (= same in frame_b)";
         input SI.Position d_guess 
@@ -6735 +6735 @@
         output Boolean positiveBranch "Branch of the initial solution";
       protected 
-        Real rbra[3] "= rb - ra";
+        Modelica.SIunits.Position rbra[3] "= rb - ra";
         Real B "Coefficient B of equation: d*d + B*d + C = 0";
         Real C "Coefficient C of equation: d*d + B*d + C = 0";

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Types.mo

@@ -11 +11 @@
 </HTML>"));
   
-  type Axis = Modelica.Icons.TypeReal[3](each unit="1") 
+  type Axis = Modelica.Icons.TypeReal[3](each final unit="1") 
     "Axis vector with choices for menus"                                      annotation (
     preferedView="text",

branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Visualizers.mo

@@ -1003 +1003 @@
         "Position vector from origin of object frame to shape origin, resolved in object frame"
                                                                                                 annotation(Dialog);
-      input Real lengthDirection[3]={1,0,0} 
+      input Real lengthDirection[3](each final unit="1")={1,0,0} 
         "Vector in length direction, resolved in object frame"  annotation(Dialog);
-      input Real widthDirection[3]={0,1,0} 
+      input Real widthDirection[3](each final unit="1")={0,1,0} 
         "Vector in width direction, resolved in object frame"  annotation(Dialog);
       input SI.Length length=0 "Length of visual object"  annotation(Dialog);
@@ -1012 +1012 @@
       input Types.ShapeExtra extra=0.0 
         "Additional size data for some of the shape types"                                 annotation(Dialog);
-      input Real color[3]={255,0,0} "Color of shape"            annotation(Dialog);
+      input Integer color[3]={255,0,0} "Color of shape"            annotation(Dialog);
       input Types.SpecularCoefficient specularCoefficient = 0.7 
         "Reflection of ambient light (= 0: light is completely absorbed)" annotation(Dialog);
       // Real rxry[3, 2];
     protected 
-      Real abs_n_x=Frames.length(lengthDirection) annotation (Hide=true);
-      Real e_x[3]=noEvent(if abs_n_x < 1.e-10 then {1,0,0} else lengthDirection
+      Real abs_n_x(final unit="1")=Frames.length(lengthDirection) annotation (Hide=true);
+      Real e_x[3](each final unit="1")=noEvent(if abs_n_x < 1.e-10 then {1,0,0} else lengthDirection
           /abs_n_x) annotation (Hide=true);
-      Real n_z_aux[3]=cross(e_x, widthDirection) annotation (Hide=true);
-      Real e_y[3]=noEvent(cross(Frames.normalize(cross(e_x, if n_z_aux*n_z_aux
+      Real n_z_aux[3](each final unit="1")=cross(e_x, widthDirection) annotation (Hide=true);
+      Real e_y[3](each final unit="1")=noEvent(cross(Frames.normalize(cross(e_x, if n_z_aux*n_z_aux
            > 1.0e-6 then widthDirection else (if abs(e_x[1]) > 1.0e-6 then {0,1,
           0} else {1,0,0}))), e_x)) annotation (Hide=true);
       output Real Form annotation (Hide=false);
     public 
-      output Real rxvisobj[3] 
+      output Real rxvisobj[3](each final unit="1") 
         "x-axis unit vector of shape, resolved in world frame" 
         annotation (Hide=false);
-      output Real ryvisobj[3] 
+      output Real ryvisobj[3](each final unit="1") 
         "y-axis unit vector of shape, resolved in world frame" 
         annotation (Hide=false);