Changeset 1051 for branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Joints.mo

Timestamp:

02/24/08 20:03:46 (9 months ago)

Author:

otter

Message:

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

Files:

• branches/maintenance/2.2.2/Modelica/Mechanics/MultiBody/Joints.mo (modified) (20 diffs)

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";