Fix false calculation of w (omega) when resolveInFrame == frame_resolve

tobolar · Jun 13, 2023 · 8c24779 · 8c24779
1 parent 182301b
commit 8c24779
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Modelica/Mechanics/MultiBody/Sensors/Internal/BasicAbsoluteAngularVelocity.mo b/Modelica/Mechanics/MultiBody/Sensors/Internal/BasicAbsoluteAngularVelocity.mo
@@ -20,7 +20,7 @@ equation
    elseif resolveInFrame == ResolveInFrameA.frame_a then
       w = Frames.angularVelocity2(frame_a.R);
    elseif resolveInFrame == ResolveInFrameA.frame_resolve then
-      w = Frames.resolveRelative(Frames.angularVelocity1(frame_a.R), frame_a.R, frame_resolve.R);
+      w = Frames.resolve2(frame_resolve.R, Frames.angularVelocity1(frame_a.R));
    else
       assert(false, "Wrong value for parameter resolveInFrame");
       w = zeros(3);