| StewartPlatform.Types.DiscParameters | discParameters (from Disc) | | Parameters of the disc |
| Direction | direction (from Disc) | Direction.down | Cylinder direction from x-y plane along z-axis |
| Boolean | useGlobalParameters | true | =true, if you want to use the parameters defined in the 'gp' (GlobalParameters) object |
| StewartPlatform.Types.DiscParameters | platform | | Platform parameters |
| SI.Velocity[3] | initPlatformVel | {0, 0, 0} | Initial platform velocity |
| SI.Acceleration[3] | initPlatformAcc | {0, 0, 0} | Initial platform acceleration |
| SI.AngularVelocity[3] | initPlatformAngularVel | {0, 0, 0} | Initial platform angular velocity |
| SI.AngularAcceleration[3] | initPlatformAngularAcc | {0, 0, 0} | Initial platform angular acceleration |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | _sequence_angleStates | {1, 2, 3} | Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states |
| Frames.Orientation | R_rel | if useGlobalParameters then Frames.nullRotation() else if rotationType == TY.RotationTypes.RotationAxis then Frames.planarRotation(Modelica.Math.Vectors.normalizeWithAssert(n), from_deg(angle), 0) else if rotationType == TY.RotationTypes.TwoAxesVectors then Frames.from_nxy(n_x, n_y) else Frames.axesRotations(sequence, from_deg(angles), zeros(3)) | Fixed rotation object from base frame to platform frame |
| TY.RotationSequence | initSequence | if useGlobalParameters then gp.initSequence else {1, 2, 3} | Sequence of rotations to rotate base frame into platform frame; used to initialize the model |
| SI.Angle[3] | initAngles | if useGlobalParameters then gp.initAngles else Frames.axesRotationsAngles(R_rel, initSequence) | Initial values of angles to rotate base frame around 'initSequence' axes into platform frame; used to initialize the model |
| Initialization |
| Boolean | fix_initPlatformPos | false | =true, if you want to use the platform initial position as initial equation |
| Boolean | fix_initPlatformVel | false | =true, if you want to use the platform initial velocity as initial equation |
| Boolean | fix_initPlatformAcc | false | =true, if you want to use the platform initial acceleration as initial equation |
| Boolean | fix_initPlatformOrientation | false | =true, if you want to use the platform initial orientation as initial equation |
| Boolean | fix_initPlatformAngularVel | false | =true, if you want to use the platform initial angular velocity as initial equation |
| Boolean | fix_initPlatformAngularAcc | false | =true, if you want to use the platform initial angular acceleration as initial equation |
| Boolean | _enforceStates | false | = true, if absolute variables of body object shall be used as states (StateSelect.always) |
| Boolean | _useQuaternions | false | = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states |
| SI.Position[3] | basePos | {0, 0, 0} | Vector from world frame to base.frame_a resolved in world frame |
| SI.Position[3] | initPlatformPos | {0, 0, 1.45} | Coordinates of the platform frame resolved in base frame |
| TY.RotationTypes | rotationType | TY.RotationTypes.RotationAxis | Type of rotation description |
| if rotationType = RotationAxis |
| TY.Axis | n | {1, 0, 0} | Axis of rotation in base frame (= same as in base frame and platform frame) |
| NonSI.Angle_deg | angle | 0 | Angle to rotate base frame around axis n into platform frame |
| if rotationType = TwoAxesVectors |
| TY.Axis | n_x | {1, 0, 0} | Vector along x-axis of platform frame resolved in base frame |
| TY.Axis | n_y | {0, 1, 0} | Vector along y-axis of platform frame resolved in base frame |
| if rotationType = PlanarRotationSequence |
| TY.RotationSequence | sequence | {1, 2, 3} | Sequence of rotations |
| NonSI.Angle_deg[3] | angles | {0, 0, 0} | Rotation angles around the axes defined in 'sequence' |
