function

RigidBody.portPower

Bilinear wrench/twist supply rate

Public declarations

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

Role	Name	Type
input	`wrench`	`RigidBody.Wrench`
input	`twist`	`RigidBody.Twist`
output	`power`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function portPower "Bilinear wrench/twist supply rate"
  input RigidBody.Wrench wrench;
  input RigidBody.Twist twist;
  output Real power;
algorithm
  power := wrench.bodyForce * twist.bodyLinearVelocity
    + wrench.bodyTorque * twist.bodyAngularVelocity;
end portPower;