ModelicaStandardLibrary/Modelica/Mechanics/MultiBody/Interfaces/PartialElementaryJoint.mo at 6c93616421204a394bdb562cd51a83736feabf4e · modelica/ModelicaStandardLibrary · GitHub

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within Modelica.Mechanics.MultiBody.Interfaces;
partial model PartialElementaryJoint
  "Base model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)"
  extends PartialTwoFrames;

equation
  Connections.branch(frame_a.R, frame_b.R);

  annotation (Documentation(info="<html>
<p>
All <strong>elementary joints</strong> should inherit from this base model, i.e.,
joints that are directly defined by equations, provided they compute
either the rotation object of frame_b from the rotation object of frame_a
and from relative quantities (or vice versa), or there is a constraint
equation between the rotation objects of the two frames.
In other cases, a joint object should inherit from
<strong>Interfaces.PartialTwoFrames</strong> (e.g., joint Spherical, because there
is no constraint between the rotation objects of frame_a and frame_b
or joint Cylindrical because it is not an elementary joint).
</p>
<p>
This partial model provides two frame connectors, a \"Connections.branch\"
between frame_a and frame_b, access to the world
object and an assert to check that both frame connectors are connected.
</p>
</html>
"));
end PartialElementaryJoint;