RigidBody/portPower.mo

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Documentation: RigidBody.portPower

within RigidBody;
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;