record

RigidBody.State

Rigid-body state in world position and body velocity coordinates

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`worldPosition`	`Real`	`[3]`	World position [m]
field	`bodyVelocity`	`Real`	`[3]`	Body-frame linear velocity [m/s]
field	`attitude`	`Real`	`[4]`	Unit quaternion {w,x,y,z}, body to world
field	`bodyAngularVelocity`	`Real`	`[3]`	Body-frame angular velocity [rad/s]

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record State "Rigid-body state in world position and body velocity coordinates"
  Real worldPosition[3] "World position [m]";
  Real bodyVelocity[3] "Body-frame linear velocity [m/s]";
  Real attitude[4] "Unit quaternion {w,x,y,z}, body to world";
  Real bodyAngularVelocity[3] "Body-frame angular velocity [rad/s]";
end State;