function

RigidBody.bodyTwist

Extract the power-port flow variable from a rigid-body state

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`state`	`RigidBody.State`
output	`twist`	`RigidBody.Twist`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function bodyTwist "Extract the power-port flow variable from a rigid-body state"
  input RigidBody.State state;
  output RigidBody.Twist twist;
algorithm
  twist.bodyLinearVelocity := state.bodyVelocity;
  twist.bodyAngularVelocity := state.bodyAngularVelocity;
end bodyTwist;