frame to frame_b for consistency

docs/src/examples/wheel.md

@@ -240,7 +240,7 @@ This example demonstrates use of the [`PlanarMechanics.SlipBasedWheelJoint`](@re
  constant = Blocks.Constant(k = 0)
  end
  @equations begin
- connect(fixed.frame, revolute.frame_a)
+ connect(fixed.frame_b, revolute.frame_a)
  connect(revolute.frame_b, prismatic.frame_a)
  connect(prismatic.frame_b, body.frame_a)
  connect(prismatic.frame_b, slipBasedWheelJoint.frame_a)

src/PlanarMechanics/components.jl

@@ -5,13 +5,11 @@ purple = Multibody.purple
 Frame fixed in the planar world frame at a given position and orientation
 
 # Parameters:
-- `x`: [m] Fixed absolute x-position, resolved in planarWorld frame
-- `y`: [m] Fixed absolute y-position, resolved in planarWorld frame
+- `r`: [m, m] Fixed absolute x,y-position, resolved in world frame
 - `phi`: [rad] Fixed angle
 
 # Connectors:
-- `frame: 2-dim. Coordinate system
-
+- `frame_b`: 2-dim. Coordinate system
 """
 @mtkmodel Fixed begin
  @parameters begin
@@ -20,13 +18,13 @@ Frame fixed in the planar world frame at a given position and orientation
  end
 
  @components begin
- frame = Frame()
+ frame_b = Frame()
  end
 
  @equations begin
- frame.x ~ r[1]
- frame.y ~ r[2]
- frame.phi ~ phi
+ frame_b.x ~ r[1]
+ frame_b.y ~ r[2]
+ frame_b.phi ~ phi
  end
 end
 

test/test_PlanarMechanics.jl

@@ -10,7 +10,6 @@ tspan = (0.0, 3.0)
 g = -9.807
 
 @testset "Free body" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/FreeBody.mo
  m = 2
  I = 1
  @named body = Pl.Body(; m, I)
@@ -34,14 +33,13 @@ g = -9.807
 end
 
 @testset "Pendulum" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/Pendulum.mo
  @named ceiling = Pl.Fixed()
  @named rod = Pl.FixedTranslation(r = [1.0, 0.0])
  @named body = Pl.Body(m = 1, I = 0.1)
  @named revolute = Pl.Revolute()
 
  connections = [
- connect(ceiling.frame, revolute.frame_a),
+ connect(ceiling.frame_b, revolute.frame_a),
  connect(revolute.frame_b, rod.frame_a),
  connect(rod.frame_b, body.frame_a)
  ]
@@ -63,13 +61,12 @@ end
 end
 
 @testset "Pendulum with body shape" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/Pendulum.mo
  @named ceiling = Pl.Fixed()
  @named rod = Pl.BodyShape(r = [1.0, 0.0], m=1, I=0.1)
  @named revolute = Pl.Revolute()
 
  connections = [
- connect(ceiling.frame, revolute.frame_a),
+ connect(ceiling.frame_b, revolute.frame_a),
  connect(revolute.frame_b, rod.frame_a),
  ]
 
@@ -95,7 +92,6 @@ end
 end
 
 @testset "AbsoluteAccCentrifugal" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/443b007bcc1522bb172f13012e2d7a8ecc3f7a9b/PlanarMechanicsTest/Sensors.mo#L221-L332
  m = 1
  I = 0.1
  w = 10
@@ -111,7 +107,7 @@ end
  @named abs_v_sensor = Pl.AbsoluteVelocity(; resolve_in_frame)
 
  eqs = [
- connect(fixed.frame, revolute.frame_a),
+ connect(fixed.frame_b, revolute.frame_a),
  connect(revolute.frame_b, fixed_translation.frame_a),
  connect(fixed_translation.frame_b, body.frame_a),
  Pl.connect_sensor(body.frame_a, abs_v_sensor.frame_a)... # QUESTION: why?
@@ -175,15 +171,15 @@ end
  Pl.connect_sensor(body1.frame_a, abs_v_sensor.frame_a)...,
  Pl.connect_sensor(body1.frame_a, abs_a_sensor.frame_a)...,
  Pl.connect_sensor(body1.frame_a, rel_pos_sensor1.frame_a)...,
- Pl.connect_sensor(base.frame, rel_pos_sensor1.frame_b)...,
+ Pl.connect_sensor(base.frame_b, rel_pos_sensor1.frame_b)...,
  Pl.connect_sensor(body1.frame_a, rel_pos_sensor2.frame_a)...,
  Pl.connect_sensor(body2.frame_a, rel_pos_sensor2.frame_b)...,
- Pl.connect_sensor(base.frame, rel_v_sensor1.frame_a)...,
+ Pl.connect_sensor(base.frame_b, rel_v_sensor1.frame_a)...,
  Pl.connect_sensor(body1.frame_a, rel_v_sensor1.frame_b)...,
  Pl.connect_sensor(body1.frame_a, rel_v_sensor2.frame_a)...,
  Pl.connect_sensor(body2.frame_a, rel_v_sensor2.frame_b)...,
  Pl.connect_sensor(body1.frame_a, rel_a_sensor1.frame_a)...,
- Pl.connect_sensor(base.frame, rel_a_sensor1.frame_b)...,
+ Pl.connect_sensor(base.frame_b, rel_a_sensor1.frame_b)...,
  Pl.connect_sensor(body1.frame_a, rel_a_sensor2.frame_a)...,
  Pl.connect_sensor(body2.frame_a, rel_a_sensor2.frame_b)...
  ]
@@ -193,15 +189,15 @@ end
  # connect(body1.frame_a, abs_v_sensor.frame_a),
  # connect(body1.frame_a, abs_a_sensor.frame_a),
  # connect(body1.frame_a, rel_pos_sensor1.frame_a),
- # connect(base.frame, rel_pos_sensor1.frame_b),
+ # connect(base.frame_b, rel_pos_sensor1.frame_b),
  # connect(body1.frame_a, rel_pos_sensor2.frame_a),
  # connect(body2.frame_a, rel_pos_sensor2.frame_b),
- # connect(base.frame, rel_v_sensor1.frame_a),
+ # connect(base.frame_b, rel_v_sensor1.frame_a),
  # connect(body1.frame_a, rel_v_sensor1.frame_b),
  # connect(body1.frame_a, rel_v_sensor2.frame_a),
  # connect(body2.frame_a, rel_v_sensor2.frame_b),
  # connect(body1.frame_a, rel_a_sensor1.frame_a),
- # connect(base.frame, rel_a_sensor1.frame_b),
+ # connect(base.frame_b, rel_a_sensor1.frame_b),
  # connect(body1.frame_a, rel_a_sensor2.frame_a),
  # connect(body2.frame_a, rel_a_sensor2.frame_b),
  # ]
@@ -265,7 +261,6 @@ end
 end
 
 @testset "Measure Demo" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/MeasureDemo.mo
  @named body = Pl.Body(; m = 1, I = 0.1)
  @named fixed_translation = Pl.FixedTranslation(;)
  @named fixed = Pl.Fixed()
@@ -283,7 +278,7 @@ end
  connections = [
  connect(fixed_translation.frame_b, body.frame_a),
  connect(fixed_translation1.frame_b, body1.frame_a),
- connect(fixed.frame, revolute1.frame_a),
+ connect(fixed.frame_b, revolute1.frame_a),
  connect(revolute1.frame_b, fixed_translation.frame_a),
  # connect(abs_a_sensor.frame_resolve, abs_a_sensor.frame_a),
  connect(revolute2.frame_b, fixed_translation1.frame_a),
@@ -321,7 +316,6 @@ end
 end
 
 @testset "SpringDamper" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/master/PlanarMechanics/Examples/SpringDamperDemo.mo
  @named spring_damper = Pl.SpringDamper(;
  s_relx0 = 0,
  d_y = 1,
@@ -336,7 +330,7 @@ end
  @named fixed_translation = Pl.FixedTranslation(; r = [-1, 0])
 
  connections = [
- connect(fixed.frame, fixed_translation.frame_a),
+ connect(fixed.frame_b, fixed_translation.frame_a),
  connect(fixed_translation.frame_b, spring_damper.frame_a),
  connect(spring_damper.frame_b, body.frame_a)
  ]
@@ -358,15 +352,14 @@ end
 end
 
 @testset "Spring and damper demo" begin
- # https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/SpringDemo.mo
  @named body = Pl.Body(; m = 0.5, I = 0.1)
  @named fixed = Pl.Fixed()
  @named spring = Pl.Spring(; c_y = 10, s_rely0 = -0.5, c_x = 1, c_phi = 1e5)
  @named damper = Pl.Damper(d = 1)
  @named prismatic = Pl.Prismatic(; r=[0, 1])
 
  connections = [
- connect(fixed.frame, spring.frame_a),
+ connect(fixed.frame_b, spring.frame_a),
  connect(spring.frame_b, body.frame_a),
  connect(damper.frame_a, spring.frame_a),
  connect(damper.frame_b, spring.frame_b),
@@ -428,7 +421,7 @@ end
 
 
 # import GLMakie, Multibody
-# Multibody.render(model, sol, show_axis=true, x=1, y=1, z=5, traces=[model.wheel1.frame, model.wheel2.frame])
+# Multibody.render(model, sol, show_axis=true, x=1, y=1, z=5, traces=[model.wheel1.frame_a, model.wheel2.frame_a])
 
 
 # plot(sol, idxs=[
@@ -466,13 +459,13 @@ import ModelingToolkitStandardLibrary.Mechanical.Rotational
  revolute = Pl.Revolute(phi = 0, w = 0)
  fixed = Pl.Fixed()
  engineTorque = Rotational.ConstantTorque(tau_constant = 2)
- body = Pl.Body(m = 10, I = 1, gy=0)
+ body = Pl.Body(m = 10, I = 1, gy=0, phi=0, w=0)
  inertia = Rotational.Inertia(J = 1, phi = 0, w = 0)
  constant = Blocks.Constant(k = 0)
  end
  @equations begin
  connect(prismatic.frame_a, revolute.frame_b)
- connect(revolute.frame_a, fixed.frame)
+ connect(revolute.frame_a, fixed.frame_b)
  connect(engineTorque.flange, inertia.flange_a)
  connect(body.frame_a, prismatic.frame_b)
  connect(slipBasedWheelJoint.frame_a, prismatic.frame_b)