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Timestamp:
05/04/08 13:46:15 (4 months ago)
Author:
otter
Message:

- Bugs in MultiBody.Forces.WorldTorque and WorldForceAndTorque fixed

(resolveInFrame was not propagated).

- Release notes updated

Files:
1 modified

Legend:

Unmodified
Added
Removed

  • trunk/Modelica/Mechanics/MultiBody/Forces.mo

    r1050 r1113  
    280280      annotation (Dialog(group="if animation = true", enable=animation)); 
    281281 
    282     annotation (defaultComponentName="torque" 
    283       , 
     282    annotation (defaultComponentName="torque", 
    284283      Documentation(info="<HTML> 
    285284 
    … …  
    391390      r_head=-t_in_m) if world.enableAnimation and animation; 
    392391  public 
    393     Internal.BasicWorldTorque basicWorldTorque  
     392    Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)  
    394393      annotation (Placement(transformation(extent={{-10,-10},{10,10}}))); 
    395394  protected 
    … …  
    581580        extent=[-100, -100; 100, 100], 
    582581        grid=[1, 1], 
    583         component=[20, 20]) 
    584       , 
     582        component=[20, 20]), 
    585583      Documentation(info=" 
    586584An external force element exerts the inport signal 
    … …  
    628626    Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)  
    629627      annotation (Placement(transformation(extent={{18,-50},{38,-70}}))); 
    630     WorldTorque torque1  
     628    Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)  
    631629      annotation (Placement(transformation(extent={{-10,50},{10,70}}))); 
    632630  protected 
    … …  
    644642        color={0,0,127}, 
    645643        smooth=Smooth.None)); 
    646     connect(torque1.frame_b, frame_b) annotation (Line( 
     644    connect(basicWorldTorque.frame_b, frame_b)  
     645                                      annotation (Line( 
    647646        points={{10,60},{60,60},{60,0},{100,0}}, 
    648647        color={95,95,95}, 
    649648        thickness=0.5, 
    650649        smooth=Smooth.None)); 
    651     connect(torque1.torque, torque) annotation (Line( 
     650    connect(basicWorldTorque.torque, torque)  
     651                                    annotation (Line( 
    652652        points={{-12,60},{-120,60}}, 
    653653        color={0,0,127}, 
    … …  
    658658        pattern=LinePattern.Dot, 
    659659        smooth=Smooth.None)); 
    660     connect(torque1.frame_resolve, frame_resolve) annotation (Line( 
     660    connect(basicWorldTorque.frame_resolve, frame_resolve)  
     661                                                  annotation (Line( 
    661662        points={{0,70},{0,100}}, 
    662663        color={95,95,95}, 
    663664        pattern=LinePattern.Dot, 
    664665        smooth=Smooth.None)); 
    665     connect(zeroPosition.frame_resolve, torque1.frame_resolve) annotation (Line( 
     666    connect(zeroPosition.frame_resolve, basicWorldTorque.frame_resolve)  
     667                                                               annotation (Line( 
    666668        points={{58,80},{0,80},{0,70}}, 
    667669        color={95,95,95}, 
    … …  
    14141416      "Unit vector in direction from frame_a to frame_b, resolved in world frame"; 
    14151417    annotation ( 
    1416        
    14171418      Icon(coordinateSystem( 
    14181419          preserveAspectRatio=true, 
    … …  
    17711772      "Unit vector in direction from frame_a to frame_b, resolved in world frame"; 
    17721773    annotation ( 
    1773        
    17741774      Icon(coordinateSystem( 
    17751775          preserveAspectRatio=true, 
    … …  
    23132313    extends Interfaces.PartialLineForce; 
    23142314    annotation ( 
    2315        
    23162315      Documentation(info="<HTML> 
    23172316<p> 
    … …  
    24362435    extends Interfaces.PartialLineForce; 
    24372436    annotation ( 
    2438        
    24392437      Documentation(info="<HTML> 
    24402438<p> 
    … …  
    25442542    extends Interfaces.PartialLineForce; 
    25452543    annotation ( 
    2546        
    25472544      Documentation(info="<HTML> 
    25482545<p> 
    … …  
    26302627            lineColor={160,160,164}, 
    26312628            textString="s")})); 
     2629 
    26322630  equation 
    26332631    f = c*(s - s_unstretched - s_damper); 
    … …  
    26492647            rotation=90))); 
    26502648      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each 
    2651         final unit = "N") 
     2649          final unit="N") 
    26522650        "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame" 
    26532651        annotation (Placement(transformation( 
    … …  
    27852783 
    27862784      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each 
    2787         final unit = "N.m") 
     2785          final unit="N.m") 
    27882786        "x-, y-, z-coordiantes of torque resolved in frame defined by resolveInFrame" 
    27892787        annotation (Placement(transformation( 
    … …  
    29242922 
    29252923      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each 
    2926         final unit = "N") 
     2924          final unit="N") 
    29272925        "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame" 
    29282926        annotation (Placement(transformation(extent={{-140,-20},{-100,20}}, 
    … …  
    30323030 
    30333031      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each 
    3034         final unit = "N.m") 
     3032          final unit="N.m") 
    30353033        "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame" 
    30363034        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},