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ramboldio/seesaw.xml

Created May 18, 2020 15:50
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seesaw.xml
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<?xml version="1.0" encoding="UTF-8"?>
<OpenModelicaModelDescription
xmlns:exp="https://svn.jmodelica.org/trunk/XML/daeExpressions.xsd"
xmlns:equ="https://svn.jmodelica.org/trunk/XML/daeEquations.xsd"
xmlns:fun="https://svn.jmodelica.org/trunk/XML/daeFunctions.xsd"
xmlns:opt="https://svn.jmodelica.org/trunk/XML/daeOptimization.xsd"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
fmiVersion="1.0"
modelName="SimpleSeesaw"
modelIdentifier="SimpleSeesaw"
guid="{4023049a-d64d-438a-82ca-5ce34f29077c}"
generationDateAndTime="2020-03-17T19:19:41"
variableNamingConvention="structured"
numberOfContinuousStates="2"
numberOfEventIndicators="0"
>
<VendorAnnotations>
<Tool name="OpenModelica Compiler OpenModelica 1.16.0~dev-221-g5369161"> </Tool>
</VendorAnnotations>
<DefaultExperiment startTime="0.0" stopTime="1.0" tolerance="1e-06" />
<ModelVariables>
<ScalarVariable name="revolute.phi" description="Relative rotation angle from frame_a to frame_b" valueReference="0" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" unit="rad" displayUnit="deg"/>
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="phi"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>state</VariableCategory>
</ScalarVariable>
<ScalarVariable name="revolute.w" description="First derivative of angle phi (relative angular velocity)" valueReference="1" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" unit="rad/s" />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="w"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>state</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(revolute.phi)" description="der(Relative rotation angle from frame_a to frame_b)" valueReference="2" variability="continuous" causality="internal" alias="noAlias">
<Real unit="Hz" />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="phi"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>derivative</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(revolute.w)" description="der(First derivative of angle phi (relative angular velocity))" valueReference="3" variability="continuous" causality="internal" alias="noAlias">
<Real unit="s-2" />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="w"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>derivative</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox.body.w_a[1])" description="Absolute angular velocity of frame_a resolved in frame_a" valueReference="4" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="w_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox.body.w_a[2])" description="Absolute angular velocity of frame_a resolved in frame_a" valueReference="5" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="w_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox.body.w_a[3])" description="Absolute angular velocity of frame_a resolved in frame_a" valueReference="6" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="w_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.body.frame_a.r_0[1])" description="Position vector from world frame to the connector frame origin, resolved in world frame" valueReference="7" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="frame_a"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.body.frame_a.r_0[2])" description="Position vector from world frame to the connector frame origin, resolved in world frame" valueReference="8" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="frame_a"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.body.frame_a.r_0[3])" description="Position vector from world frame to the connector frame origin, resolved in world frame" valueReference="9" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="frame_a"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.frame_b.R.T[1,2])" description="Transformation matrix from world frame to local frame" valueReference="10" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="frame_b"/>
<exp:QualifiedNamePart name="R"/>
<exp:QualifiedNamePart name="T">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.v_0[1])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="11" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.v_0[2])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="12" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(bodyBox1.v_0[3])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="13" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox1"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.r_0[1])" description="Position vector from origin of world frame to origin of frame_a, resolved in world frame" valueReference="14" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.r_0[2])" description="Position vector from origin of world frame to origin of frame_a, resolved in world frame" valueReference="15" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.r_0[3])" description="Position vector from origin of world frame to origin of frame_a, resolved in world frame" valueReference="16" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="r_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.v_0[1])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="17" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.v_0[2])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="18" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(pointMass.v_0[3])" description="Absolute velocity of frame_a, resolved in world frame (= der(r_0))" valueReference="19" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="pointMass"/>
<exp:QualifiedNamePart name="v_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(revolute.R_rel.w[1])" description="Absolute angular velocity of local frame, resolved in local frame" valueReference="20" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="R_rel"/>
<exp:QualifiedNamePart name="w">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(revolute.R_rel.w[2])" description="Absolute angular velocity of local frame, resolved in local frame" valueReference="21" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="R_rel"/>
<exp:QualifiedNamePart name="w">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(revolute.R_rel.w[3])" description="Absolute angular velocity of local frame, resolved in local frame" valueReference="22" variability="continuous" causality="internal" alias="noAlias">
<Real />
<QualifiedName>
<exp:QualifiedNamePart name="revolute"/>
<exp:QualifiedNamePart name="R_rel"/>
<exp:QualifiedNamePart name="w">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(springDamperParallel.r_rel_a[1])" description="Position vector from origin of frame_a to origin of frame_b, resolved in frame_a" valueReference="23" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="springDamperParallel"/>
<exp:QualifiedNamePart name="r_rel_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(springDamperParallel.r_rel_a[2])" description="Position vector from origin of frame_a to origin of frame_b, resolved in frame_a" valueReference="24" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="springDamperParallel"/>
<exp:QualifiedNamePart name="r_rel_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(springDamperParallel.r_rel_a[3])" description="Position vector from origin of frame_a to origin of frame_b, resolved in frame_a" valueReference="25" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="springDamperParallel"/>
<exp:QualifiedNamePart name="r_rel_a">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="der(springDamperParallel.s)" description="(Guarded) distance between the origin of frame_a and the origin of frame_b (&gt;= s_small))" valueReference="26" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="springDamperParallel"/>
<exp:QualifiedNamePart name="s"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="$cse3" valueReference="27" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="$cse3"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="$cse4" valueReference="28" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.3" fixed="false" />
<QualifiedName>
<exp:QualifiedNamePart name="$cse4"/>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.a_0[1]" description="Absolute acceleration of frame_a resolved in world frame (= der(v_0))" valueReference="29" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" unit="m/s2" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="a_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.a_0[2]" description="Absolute acceleration of frame_a resolved in world frame (= der(v_0))" valueReference="30" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" unit="m/s2" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="a_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.a_0[3]" description="Absolute acceleration of frame_a resolved in world frame (= der(v_0))" valueReference="31" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" unit="m/s2" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="a_0">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.body.Q[1]" description="Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)" valueReference="32" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="Q">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>1</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.body.Q[2]" description="Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)" valueReference="33" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="Q">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>2</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.body.Q[3]" description="Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)" valueReference="34" variability="continuous" causality="internal" alias="noAlias">
<Real start="0.0" fixed="true" />
<QualifiedName>
<exp:QualifiedNamePart name="bodyBox"/>
<exp:QualifiedNamePart name="body"/>
<exp:QualifiedNamePart name="Q">
<exp:ArraySubscripts>
<exp:IndexExpression>
<exp:IntegerLiteral>3</exp:IntegerLiteral>
</exp:IndexExpression>
</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="bodyBox.body.Q[4]" description="Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)" valueReference="35" variability="continuous" causality="internal" alias="noAlias">
<Real start="1.0" fixed="true" />
<QualifiedName>
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<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="pointMass.sphere.R.T[1,1]" description="Transformation matrix from world frame to local frame" valueReference="1014" variability="continuous" causality="internal" alias="bodyBox1.frame_b.R.T[1,1]">
<Real />
<QualifiedName>
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<exp:QualifiedNamePart name="sphere"/>
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<exp:QualifiedNamePart name="T">
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</exp:ArraySubscripts>
</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
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<VariableCategory>algebraic</VariableCategory>
</ScalarVariable>
<ScalarVariable name="pointMass.sphere.R.T[1,2]" description="Transformation matrix from world frame to local frame" valueReference="1015" variability="continuous" causality="internal" alias="bodyBox1.frame_b.R.T[1,2]">
<Real />
<QualifiedName>
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</exp:QualifiedNamePart>
</QualifiedName>
<isLinearTimedVariables>
<TimePoint index="0" isLinear="true"/>
</isLinearTimedVariables>
<VariableCategory>algebraic</VariableCatego
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