## Selecting a Measurement Frame

You can use the Transform Sensor block to
measure the relative relationship between two arbitrary frames that are
connected to the **B** and **F** frame ports
of the block. The relationship includes relative rotation, translation, and
their first and second time derivatives. These measurements are 3-D vectors or
higher dimensioned quantities, such as rotation matrices.

To do computation with the measured vectors, the vectors must be resolved in coordinates.
The setting of **Measurement Frame** parameter determines where
to resolve the measured vectors; the vectors are resolved in the selected
frame's coordinates. For example, in the figure, because **Measurement
Frame** was set to `World`

, the
Transform Sensor block resolves a translation
vector, shown as a black arrow, in the world frame's coordinates.

**Note**

The rotation measurement of the Transform
Sensor block is independent of the **Measurement
Frame** parameter.

### Measurement Frame

You can set **Measurement Frame** parameter to
`World`

, `Base`

,
`Follower`

, ```
Non-Rotating
Base
```

, and ```
Non-Rotating
Follower
```

.

`World`

The Transform Sensor block resolves the measured vectors in the world frame's coordinates.

The world frame is an inertial frame.

`Base`

or `Follower`

The Transform Sensor block resolves the measured vectors in the coordinates of the selected frame that is the base or follower frame.

The base or follower frame is the frame that connects to the block's
**B** or **F** port, respectively.
The base and follower frames are non-inertial. Therefore, the vectors
resolved in the base or follower frame may involve centripetal and
Coriolis terms.

`Non-Rotating Base`

or `Non-Rotating Base`

The Transform Sensor block maps the vectors resolved in the world frame to the selected frame that is non-rotating base or non-rotating follower frame. In other words, the block calculates the rotation matrix from the world frame to the current base or follower frame then multiplies the matrix with the vectors resolved in the world frame.

The non-rotating base or non-rotating follower frame is an instantaneous frame that is coincident and aligned with the corresponding base or follower frame at the current time. The measurements resolved in the non-rotating frames do not involve centripetal and Coriolis terms.

The table compares the properties of the measurements for the different
**Measurement Frame** settings.

Measurement Frame | Standard Derivative Relationship |
---|---|

World | Yes |

Base | Yes |

Follower | Yes |

Non-Rotating Base | No |

Non-Rotating Follower | No |

When a selected frame satisfies the standard derivative relationship, the measurements
resolved in this frame are related to each other. For example, when you
select `World`

, the resolved linear
acceleration vector is the time derivative of the resolved linear
velocity vector, which is the time derivative of the resolved linear
translation vector.

### Example

This example shows the measurements of the Transform
Sensor block with different settings of
**Measurement Frame** parameter. The image illustrates
a single degree-of-freedom system with four parts: a support, hub, rod, and
car. The support is fixed on the ground, and the rod connects the hub and
car. The base, follower, and world frames of the system are located at the
center of the hub, car, and support’s bottom, respectively.

The rod has a length of $$r$$ and rotates with a constant angular velocity, $$\omega $$, around the `Z`

-axis of the base frame. A
Transform Sensor block is used to measure
the relative motions between the car and hub. For example, the block
measures the relative translation, $$d(t)$$ and rotation, $${R}_{F}^{B}(t)$$ between the car and hub.

The image shows the front view of the system. For simplicity purposes, this example only shows how to resolve linear measurements, such as translation, velocity, and acceleration, in Cartesian coordinates.

`World`

When you set **Measurement Frame** to `World`

,
the block measures the motion of the follower frame with respect to the
base frame then resolves the relative motion in the world frame.

The translation, velocity, and acceleration vectors have constant magnitudes because the
length of the rod is constant. However, they rotate with a constant
rotational velocity, $$\omega $$, around the `Y`

-axis of the world
frame. Therefore, the translation, velocity, and acceleration vectors
can be expressed as:

$${d}_{w}(t)=r\left[\begin{array}{c}\mathrm{cos}\omega t\\ 0\\ \mathrm{sin}\omega t\end{array}\right]$$

$${v}_{w}(t)=r\omega \left[\begin{array}{c}-\mathrm{sin}\omega t\\ 0\\ \mathrm{cos}\omega t\end{array}\right]$$

$${a}_{w}(t)=r{\omega}^{2}\left[\begin{array}{c}-\mathrm{cos}\omega t\\ 0\\ -\mathrm{sin}\omega t\end{array}\right]$$

Note that the vectors resolved in the world frame always satisfy the standard derivative relationship. For example, $${a}_{w}$$ equals the time derivative of $${v}_{w}$$.

`Base`

or `Follower`

When you set **Measurement Frame** to `Base`

,
the block measures the relative motion of the follower frame with
respect to the base frame, and resolves the measurements in the base
frame's coordinates.

Because the base frame is fixed in this example, the measurements can be expressed as:

$${d}_{b}(t)=r\left[\begin{array}{c}\mathrm{cos}\omega t\\ \mathrm{sin}\omega t\\ 0\end{array}\right]$$

$${v}_{b}(t)=r\omega \left[\begin{array}{c}-\mathrm{sin}\omega t\\ \mathrm{cos}\omega t\\ 0\end{array}\right]$$

$${a}_{b}(t)=r{\omega}^{2}\left[\begin{array}{c}-\mathrm{cos}\omega t\\ -\mathrm{sin}\omega t\\ 0\end{array}\right]$$

When you set **Measurement Frame** to
`Follower`

, the block measures the relative
motion of the follower frame to the base frame then resolves the
measurements in the follower frame's coordinates. The resolved vectors
include centripetal and Coriolis terms because the follower frame
rotates over time. To an observer attached to the follower frame, the
base frame's origin never moves. Therefore, linear velocity and linear
acceleration are zero.

$${d}_{f}(t)=r\left[\begin{array}{c}0\\ 0\\ -1\end{array}\right]$$

$${v}_{f}(t)=r\omega \left[\begin{array}{c}0\\ 0\\ 0\end{array}\right]$$

$${a}_{f}(t)=r{\omega}^{2}\left[\begin{array}{c}0\\ 0\\ 0\end{array}\right]$$

Note that the vectors resolved in the base and follower frames always satisfy the standard derivative relationship. For example, $${v}_{b}$$ equals the time derivative of $${d}_{b}$$.

`Non-Rotating Base`

or `Non-Rotating Follower`

When set **Measurement Frame** to
`Non-Rotating Base`

, the block maps the
vectors resolved in the world frame to an instantaneous frame that is
coincident and aligned with the base frame at the current moment.

$${d}_{nb}(t)={R}_{W}^{B}*{d}_{w}(t)=r\left[\begin{array}{c}\mathrm{cos}\omega t\\ \mathrm{sin}\omega t\\ 0\end{array}\right]$$

$${v}_{nb}(t)={R}_{W}^{B}*{v}_{w}(t)=r\omega \left[\begin{array}{c}-\mathrm{sin}\omega t\\ \mathrm{cos}\omega t\\ 0\end{array}\right]$$

$${a}_{nb}(t)={R}_{W}^{B}*{a}_{w}(t)=r{\omega}^{2}\left[\begin{array}{c}-\mathrm{cos}\omega t\\ -\mathrm{sin}\omega t\\ 0\end{array}\right]$$

When you set **Measurement Frame** to
`Non-Rotating Follower`

, the block maps the
vectors resolved in the world frame to an instantaneous frame that is
coincident and aligned with the follower frame at the current
moment.

$${d}_{nf}(t)={R}_{W}^{F}*{d}_{w}(t)=r\left[\begin{array}{c}0\\ 0\\ -1\end{array}\right]$$

$${v}_{nf}(t)={R}_{W}^{F}*{v}_{w}(t)=r\omega \left[\begin{array}{c}1\\ 0\\ 0\end{array}\right]$$

$${a}_{nf}(t)={R}_{W}^{F}*{a}_{w}(t)=r{\omega}^{2}\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right]$$

Note that if a base or follower frame is not fixed, the measurements in its
corresponding non-rotating frame do not satisfy the standard derivative
relationship. For example, because the follower frame rotates, if you
set **Measurement Frame** to ```
Non-Rotating
Follower
```

, the resolved velocity vector is not the time
derivative of the resolved translation vector.