mustache-modelica.txt

// Modelica model automatically generated by sdf_modelica from {{fileName}}
// Model stucture heavily inspired by Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.MechanicalStructure
model {{modelName}}
  "Model of the mechanical part of the {{modelName}} robot"
  import SI = Modelica.SIunits;
  parameter Boolean animation=true "= true, if animation shall be enabled";
  parameter SI.Acceleration g=9.81 "Gravity acceleration";

  // Position, velocity, acceleration and torques/force variables for each joint
  {{#joints}}
    {{#isType_revolute}}
  SI.Angle q_{{name}} "Joint angle for joint {{name}}";
  SI.AngularVelocity qd_{{name}} "Joint speed for joint {{name}}";
  SI.AngularAcceleration qdd_{{name}} "Joint acceleration for joint {{name}}";
  SI.Torque tau_{{name}} "Joint torque for joint {{name}}";
    {{/isType_revolute}}

    {{#isType_prismatic}}
  SI.Position q_{{name}} "Joint position for joint {{name}}";
  SI.Velocity qd_{{name}} "Joint speed for joint {{name}}";
  SI.Acceleration qdd_{{name}} "Joint acceleration for joint {{name}}";
  SI.Force tau_{{name}} "Joint force for joint {{name}}";
    {{/isType_prismatic}}

  {{/joints}}

  // Interface of the model: the driving flanges for each joint
  {{#joints}}
    {{#isType_revolute}}
  Modelica.Mechanics.Rotational.Interfaces.Flange_a axis_{{name}} annotation({{flangeGraphicsAnnotation}});
    {{/isType_revolute}}

    {{#isType_prismatic}}
  Modelica.Mechanics.Translational.Interfaces.Flange_a axis_{{name}} annotation({{flangeGraphicsAnnotation}});
    {{/isType_prismatic}}
  {{/joints}}

  // TODO(traversaro) : document this
  inner Modelica.Mechanics.MultiBody.World world(
    g=(g),
    n={0,-1,0},
    animateWorld=false,
    animateGravity=false,
    enableAnimation=animation) annotation({{worldGraphicsAnnotation}});

  // Instantiate a Modelica.Mechanics.MultiBody.Joints for each joint
  {{#joints}}
    {{#isType_revolute}}
  Modelica.Mechanics.MultiBody.Joints.Revolute {{name}}(n={{modelicaAxis}}, useAxisFlange=true,
      animation=animation) annotation({{jointGraphicsAnnotation}});
    {{/isType_revolute}}
    {{#isType_prismatic}}
  Modelica.Mechanics.MultiBody.Joints.Prismatic {{name}}(n={{modelicaAxis}}, useAxisFlange=true,
      animation=animation) annotation({{jointGraphicsAnnotation}});
    {{/isType_prismatic}}
  Modelica.Mechanics.MultiBody.Parts.FixedRotation {{name}}_fixedRotation(angle={{fixedTransformAngle}}, n={{fixedTransformAxis}}, r={{fixedTransformTrans}}, rotationType = Modelica.Mechanics.MultiBody.Types.RotationTypes.RotationAxis) annotation({{fixedTranformGraphicsAnnotation}});
  {{/joints}}

  // Instantiate a Modelica.Mechanics.MultiBody.Parts.Body for each link
  {{#links}}
  Modelica.Mechanics.MultiBody.Parts.Body {{name}}(
    r_CM={{centerOfMass}},
    m={{mass}},
    I_11={{I_11}},
    I_22={{I_22}},
    I_33={{I_33}},
    I_21={{I_21}},
    I_32={{I_23}},
    I_31={{I_31}}) annotation({{graphicsAnnotation}});
  {{/links}}

equation

{{#joints}}
  {{#isType_revolute}}
    q_{{name}} = {{name}}.phi;
    qd_{{name}} = der(q_{{name}});
    qdd_{{name}} = der(qd_{{name}});
    tau_{{name}} = {{name}}.tau;
  {{/isType_revolute}}
  {{#isType_prismatic}}
    q_{{name}} = {{name}}.s;
    qd_{{name}} = der(q_{{name}});
    qdd_{{name}} = der(qd_{{name}});
    tau_{{name}} = {{name}}.f;
  {{/isType_prismatic}}


  {{#parentLinkIsWorld}}
    connect({{parentLink}}.frame_b, {{name}}_fixedRotation.frame_a) annotation({{parent2fixedRotationGraphicsAnnotation}});
  {{/parentLinkIsWorld}}
  {{^parentLinkIsWorld}}
    connect({{parentLink}}.frame_a, {{name}}_fixedRotation.frame_a) annotation({{parent2fixedRotationGraphicsAnnotation}});
  {{/parentLinkIsWorld}}
  {{^isType_fixed}}
    connect({{name}}_fixedRotation.frame_b, {{name}}.frame_a) annotation({{fixedRotation2jointGraphicsAnnotation}});
    connect({{name}}.frame_b, {{childLink}}.frame_a) annotation({{joint2childGraphicsAnnotation}});
    connect({{name}}.axis, axis_{{name}}) annotation({{flange2jointGraphicsAnnotation}});
  {{/isType_fixed}}
  {{#isType_fixed}}
    connect({{name}}_fixedRotation.frame_b, {{childLink}}.frame_a) annotation({{fixedRotation2childGraphicsAnnotation}});
  {{/isType_fixed}}
{{/joints}}

annotation (
    Documentation(info="<html>
<p>
This model contains the mechanical components of a SDF
multibody system.
</p>
</html>"),
Icon(coordinateSystem(
        preserveAspectRatio=true,
        extent={ {-200,-200},{200,200} }), graphics={
        Rectangle(
          extent={ {-200,200},{200,-200} },
          lineColor={0,0,0},
          fillColor={192,192,192},
          fillPattern=FillPattern.Solid)
        {{& iconFlangeLabels}}),
    Diagram(coordinateSystem(
        preserveAspectRatio=true,
extent={ {-200,-200},{200,200} })));

end {{modelName}};