function

RigidBody.powerBalanceResidual

Mechanical-energy rate minus wrench supply; zero certifies lossless passivity

Public declarations

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

Role	Name	Type
input	`state`	`RigidBody.State`
input	`derivative`	`RigidBody.StateDerivative`
input	`wrench`	`RigidBody.Wrench`
input	`parameters`	`RigidBody.Parameters`
output	`residual`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function powerBalanceResidual
  "Mechanical-energy rate minus wrench supply; zero certifies lossless passivity"
  input RigidBody.State state;
  input RigidBody.StateDerivative derivative;
  input RigidBody.Wrench wrench;
  input RigidBody.Parameters parameters;
  output Real residual;
algorithm
  residual := parameters.mass * state.bodyVelocity * derivative.bodyVelocity
    + state.bodyAngularVelocity
      * (parameters.inertia * derivative.bodyAngularVelocity)
    + parameters.mass * parameters.gravity * derivative.worldPosition[3]
    - RigidBody.wrenchPower(state, wrench);
end powerBalanceResidual;