| Modelica.Mechanics.MultiBody.Types.RotationSequence | outputSequence (from PartialTrajectoryModel) | gp.defaultSequence | Sequence of rotations in which the output pose is defined |
| Real[3] | direction (from PartialTrajectoryModel) | normalize(stopPosition - startPosition) | Unit vector that indicates the direction of motion |
| SI.Distance | totalDistance (from PartialTrajectoryModel) | norm(stopPosition - startPosition) | Distance from initial point to final point |
| Frames.Orientation | R_rel_start (from PartialTrajectoryModel) | if rotationType_start == Modelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxis then Frames.planarRotation(Modelica.Math.Vectors.normalizeWithAssert(n_start), from_deg(angle_start), 0) else if rotationType_start == Modelica.Mechanics.MultiBody.Types.RotationTypes.TwoAxesVectors then Frames.from_nxy(n_x_start, n_y_start) else Frames.axesRotations(sequence_start, from_deg(angles_start), zeros(3)) | Start: fixed rotation object from base frame to platform frame |
| Frames.Orientation | R_rel_stop (from PartialTrajectoryModel) | if rotationType_stop == Modelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxis then Frames.planarRotation(Modelica.Math.Vectors.normalizeWithAssert(n_stop), from_deg(angle_stop), 0) else if rotationType_stop == Modelica.Mechanics.MultiBody.Types.RotationTypes.TwoAxesVectors then Frames.from_nxy(n_x_stop, n_y_stop) else Frames.axesRotations(sequence_stop, from_deg(angles_stop), zeros(3)) | Stop: fixed rotation object from base frame to platform frame |
| SI.Angle[3] | startAngles (from PartialTrajectoryModel) | Frames.axesRotationsAngles(R_rel_start, outputSequence) | Start: initial values of angles to rotate base frame around 'Sequence' axes into platform frame |
| SI.Angle[3] | stopAngles (from PartialTrajectoryModel) | Frames.axesRotationsAngles(R_rel_stop, outputSequence) | Stop: initial values of angles to rotate base frame around 'Sequence' axes into platform frame |
| SI.Time | stopTime (from PartialTrajectoryModel) | startTime + transitionTime | output = stopPosition for time>=stopTime |
| SI.Velocity | initialSpeed | 0 | Initial platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Velocity | finalSpeed | 0 | Final platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Velocity | maxSpeed | 1 | Max platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Acceleration | maxAcceleration | 1 | Max platform acceleration (direction = stopPosition-startPosition, in base frame) |
| Real | temp | if case == 1 then 1 else sqrt(0.5*initialSpeed^2 + 0.5*finalSpeed^2 + ai*totalDistance) | |
| SI.Time | Ti | if case == 1 then Ti_bar else -initialSpeed/ai + temp/ai | Initial acceletation time |
| SI.Time | Tf | if case == 1 then Tf_bar else (finalSpeed - initialSpeed - ai*Ti)/af | Final acceleration time |
| SI.Time | Tc | if case == 1 then (totalDistance - Ti*initialSpeed - Tf*maxSpeed - 0.5*ai*Ti^2 - 0.5*af*Tf^2)/maxSpeed else 0 | Constant speed time |
| Real[3] | initialSpeedVector | initialSpeed*direction | |
| Real[3] | finalSpeedVector | finalSpeed*direction | |
| Real[3] | maxSpeedVector | if case == 1 then maxSpeed*direction else initialSpeedVector + ai*direction*Ti | |
| Position |
| SI.Position[3] | startPosition (from PartialTrajectoryModel) | gp.initPlatformPos | Initial platform position resolved in base frame |
| SI.Position[3] | stopPosition (from PartialTrajectoryModel) | startPosition | Final platform position resolved in base frame |
| Orientation › Initial orientation |
| Modelica.Mechanics.MultiBody.Types.RotationTypes | rotationType_start (from PartialTrajectoryModel) | Modelica.Mechanics.MultiBody.Types.RotationTypes.PlanarRotationSequence | Start: type of rotation description |
| Orientation › if rotationType_start = RotationAxis |
| Modelica.Mechanics.MultiBody.Types.Axis | n_start (from PartialTrajectoryModel) | {1, 0, 0} | Start: axis of rotation in base frame (= same as in platform frame) |
| NonSI.Angle_deg | angle_start (from PartialTrajectoryModel) | 0 | Start: angle to rotate base frame around axis n_start into platform frame |
| Orientation › if rotationType_start = TwoAxesVectors |
| Modelica.Mechanics.MultiBody.Types.Axis | n_x_start (from PartialTrajectoryModel) | {1, 0, 0} | Start: vector along x-axis of platform frame resolved in base frame |
| Modelica.Mechanics.MultiBody.Types.Axis | n_y_start (from PartialTrajectoryModel) | {0, 1, 0} | Start: vector along y-axis of platform frame resolved in base frame |
| Orientation › if rotationType_start = PlanarRotationSequence |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | sequence_start (from PartialTrajectoryModel) | gp.initSequence | Start: sequence of rotation axes |
| NonSI.Angle_deg[3] | angles_start (from PartialTrajectoryModel) | to_deg(gp.initAngles) | Start: rotation angles around the axes defined in 'sequence_start' |
| Orientation › Final orientation |
| Modelica.Mechanics.MultiBody.Types.RotationTypes | rotationType_stop (from PartialTrajectoryModel) | Modelica.Mechanics.MultiBody.Types.RotationTypes.PlanarRotationSequence | Stop: type of rotation description |
| Orientation › if rotationType_stop = RotationAxis |
| Modelica.Mechanics.MultiBody.Types.Axis | n_stop (from PartialTrajectoryModel) | n_start | Stop: axis of rotation in base frame (= same as in platform frame) |
| NonSI.Angle_deg | angle_stop (from PartialTrajectoryModel) | angle_start | Stop: angle to rotate base frame around axis n_stop into platform frame |
| Orientation › if rotationType_stop = TwoAxesVectors |
| Modelica.Mechanics.MultiBody.Types.Axis | n_x_stop (from PartialTrajectoryModel) | n_x_start | Stop: vector along x-axis of platform frame resolved in base frame |
| Modelica.Mechanics.MultiBody.Types.Axis | n_y_stop (from PartialTrajectoryModel) | n_y_start | Stop: vector along y-axis of platform frame resolved in base frame |
| Orientation › if rotationType_stop = PlanarRotationSequence |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | sequence_stop (from PartialTrajectoryModel) | sequence_start | Stop: sequence of rotation axes |
| NonSI.Angle_deg[3] | angles_stop (from PartialTrajectoryModel) | angles_start | Stop: rotation angles around the axes defined in 'sequence_stop' |
| Time |
| SI.Time | startTime (from PartialTrajectoryModel) | 0 | output = startPosition for time<=startTime |
| SI.Time | transitionTime (from PartialTrajectoryModel) | 1 | Time required for the motion |
