| 1 | package InitializationInInitial
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| 2 |
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| 3 |
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| 4 | model ModelWithInitialScalar
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| 5 | inner Modelica.Mechanics.MultiBody.World world annotation(
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| 6 | Placement(visible = true, transformation(origin = {-50, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 7 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation(
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| 8 | angle = Modelica.SIunits.Conversions.to_deg(angle),
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| 9 | n = {0,0,1},
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| 10 | rotationType = Modelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxis) annotation(
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| 11 | Placement(visible = true, transformation(origin = {-8, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 12 | Modelica.Mechanics.MultiBody.Parts.Body body(m = 1, r_CM = {0, 0, 0}) annotation(
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| 13 | Placement(visible = true, transformation(origin = {30, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 14 | parameter Real myParam[3] = {0,1,0};
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| 15 | protected
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| 16 | // parameter Real axis[3](each fixed = false);
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| 17 | parameter Modelica.SIunits.Angle angle(fixed = false);
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| 18 | initial equation
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| 19 | angle = myInitFunScalar(myParam);
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| 20 | equation
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| 21 | connect(fixedRotation.frame_b, body.frame_a) annotation(
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| 22 | Line(points = {{2, 0}, {20, 0}, {20, 0}, {20, 0}}, color = {95, 95, 95}));
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| 23 | connect(world.frame_b, fixedRotation.frame_a) annotation(
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| 24 | Line(points = {{-40, 0}, {-18, 0}, {-18, 0}, {-18, 0}}));
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| 25 | end ModelWithInitialScalar;
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| 26 |
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| 27 | model ModelWithInitialVect
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| 28 | inner Modelica.Mechanics.MultiBody.World world annotation(
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| 29 | Placement(visible = true, transformation(origin = {-50, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 30 | Modelica.Mechanics.MultiBody.Parts.FixedRotation fixedRotation(
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| 31 | angle = Modelica.SIunits.Conversions.to_deg(angle),
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| 32 | n = axis,
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| 33 | rotationType = Modelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxis) annotation(
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| 34 | Placement(visible = true, transformation(origin = {-8, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 35 | Modelica.Mechanics.MultiBody.Parts.Body body(m = 1, r_CM = {0, 0, 0}) annotation(
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| 36 | Placement(visible = true, transformation(origin = {30, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 37 | parameter Real myParam[3] = {0,1,0};
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| 38 | protected
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| 39 | parameter Real axis[3](each fixed = false);
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| 40 | parameter Modelica.SIunits.Angle angle(fixed = false);
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| 41 | initial equation
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| 42 | (axis, angle) = myInitFunVect(myParam);
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| 43 | equation
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| 44 | connect(fixedRotation.frame_b, body.frame_a) annotation(
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| 45 | Line(points = {{2, 0}, {20, 0}, {20, 0}, {20, 0}}, color = {95, 95, 95}));
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| 46 | connect(world.frame_b, fixedRotation.frame_a) annotation(
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| 47 | Line(points = {{-40, 0}, {-18, 0}, {-18, 0}, {-18, 0}}));
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| 48 | end ModelWithInitialVect;
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| 49 |
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| 50 | function myInitFunScalar
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| 51 | input Real rotatedVersor[3];
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| 52 | output Modelica.SIunits.Angle rotationAngle;
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| 53 | algorithm
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| 54 | rotationAngle := 0;
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| 55 | annotation (Inline=true);
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| 56 | end myInitFunScalar;
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| 57 |
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| 58 | function myInitFunVect
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| 59 | input Real rotatedVersor[3];
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| 60 | output Real rotationAxis[3];
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| 61 | output Modelica.SIunits.Angle rotationAngle;
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| 62 | algorithm
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| 63 | rotationAxis := {0,0,1};
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| 64 | rotationAngle := 0;
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| 65 | annotation (
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| 66 | Inline=true);
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| 67 | end myInitFunVect;
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| 68 | annotation(
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| 69 | uses(Modelica(version = "3.2.3")));
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| 70 | end InitializationInInitial;
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