RigidBody/wrenchPower.mo

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Documentation: RigidBody.wrenchPower

within RigidBody;
function wrenchPower "Supply rate for a body-frame wrench"
  input RigidBody.State state;
  input RigidBody.Wrench wrench;
  output Real power;
algorithm
  power := RigidBody.portPower(wrench, RigidBody.bodyTwist(state));
end wrenchPower;