<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" xmlns:scilab="http://www.scilab.org" xml:id="CMPP_BodyShape">
    <refnamediv>
        <refname>CMPP_BodyShape</refname>
        <refpurpose>CMPP_BodyShape Coselica block</refpurpose>
    </refnamediv>
    <refsection>
        <title>Block Screenshot</title>
        <para>
            <inlinemediaobject>
                <imageobject>
                    <imagedata fileref="../../../../images/gif/CMPP_BodyShape.gif" align="center" valign="middle"/>
                </imageobject>
            </inlinemediaobject>
        </para>
    </refsection>
    <refsection id="Description_CMPP_BodyShape">
        <title>Description</title>
        <para>
            Rigid body with mass, inertia tensor and two frame connectors (no states)
        </para>
    </refsection>
    <refsection id="Palette_CMPP_BodyShape">
        <title>Palette</title>
        <itemizedlist>
            <listitem>
                <para>
                    <link linkend="Mechanics_Planar_pal">Mechanics_Planar - Coselica toolbox</link>
                </para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection>
        <title>Block Screenshot</title>
        <para>
            <inlinemediaobject>
                <imageobject>
                    <imagedata fileref="../../../../images/gui/CMPP_BodyShape_gui.gif" align="center" valign="middle"/>
                </imageobject>
            </inlinemediaobject>
        </para>
        <itemizedlist>
            <listitem>
                <para>
                    <emphasis role="bold">r [m] : Vector from frame_a to frame_b resolved in frame_a</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 2. </para>
                <para> Default value : [0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">r_CM [m] : Vector from frame_a to center of mass, resolved in frame_a</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 2. </para>
                <para> Default value : [0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">m [kg] : Mass of rigid body (m &gt;= 0)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 1</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">I [kg.m2] : Inertia of rigid body (I &gt;= 0)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 0.001</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">initType [-] : Type of initial value for [r_0,v_0,a_0,phi,w,z] (0=guess,1=fixed)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 6. </para>
                <para> Default value : [0,0,0,0,0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">r_0_start [m] : Initial values of frame_a.r_0 (position origin of frame_a resolved in world frame)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 2. </para>
                <para> Default value : [0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">v_0_start [m/s] : Initial values of velocity v = der(frame_a.r_0)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 2. </para>
                <para> Default value : [0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">a_0_start [m/s2] : Initial values of acceleration a = der(v)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 2. </para>
                <para> Default value : [0,0]</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">phi_start [rad] : Initial value of angle phi to rotate world frame into frame_a</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 0</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">w_start [rad/s] : Initial value of angular velocity w = der(phi) of frame_a</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 0</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">z_start [rad/s2] : Initial value of angular acceleration z = der(w) of frame_a</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 0</para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Defaultproperties_CMPP_BodyShape">
        <title>Block Model / Default properties</title>
        <itemizedlist>
            <listitem>
                <para>
                    <emphasis role="bold">Inputs :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica variable name :</emphasis> 'frame_a'
                        </para>
                        <para>
                            <emphasis role="bold">Implicit</emphasis> variable (Mechanics Planar type).
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Outputs :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica variable name :</emphasis> 'frame_b'
                        </para>
                        <para>
                            <emphasis role="bold">Implicit</emphasis> variable (Mechanics Planar type).
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Parameters :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'r'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'r_CM'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'm'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 1
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'I'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 0.001
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'initType'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0,0,0,0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'r_0_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'v_0_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'a_0_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> [0,0]
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'phi_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 0
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'w_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 0
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'z_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 0
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Interfacingfunction_CMPP_BodyShape">
        <title>Interfacing function</title>
        <itemizedlist>
            <listitem>
                <para>CMPP_BodyShape.sci</para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Modelicamodel_CMPP_BodyShape">
        <title>Modelica model</title>
        <itemizedlist>
            <listitem>
                <para>Coselica.Mechanics.Planar.Parts.BodyShape in COSELICA/macros/Coselica.mo file</para>
            </listitem>
        </itemizedlist>
    </refsection>
</refentry>
