Skip to content
[Jenkins]Jenkins
log in

Failed

tests / testsuite-clang / flattening_modelica_connectors.CGraphBug.mos (from (result.xml))

Failing for the past 2 builds (Since #7 )
Took 0 ms.

Stacktrace

Output mismatch (see stdout for details)

Standard Output

 + CGraphBug                                                                         ... equation mismatch [time: 0]

==== Log /tmp/omc-rtest-unknown/flattening/modelica/connectors/CGraphBug.mos_temp7504/log-CGraphBug.mos
false
"Error: Failed to load package Modelica (3.2.1) using MODELICAPATH /var/lib/jenkins/workspace/OpenModelica_maintenance_v1.13/build/lib/omlibrary.
"
true
""
""
"[flattening/modelica/connectors/CGraphBug.mo:8:5-8:60:writable] Error: Class Modelica.Mechanics.MultiBody.Interfaces.Frame_a not found in scope Test.SubModel1.
Error: Error occurred while flattening model Test
"

Equation mismatch: diff says:
--- /tmp/omc-rtest-unknown/flattening/modelica/connectors/CGraphBug.mos_temp7504/equations-expected2018-12-16 19:51:39.502457847 +0000
+++ /tmp/omc-rtest-unknown/flattening/modelica/connectors/CGraphBug.mos_temp7504/equations-got2018-12-16 19:51:39.634456534 +0000
@@ -1,611 +1,9 @@
+false
+"Error: Failed to load package Modelica (3.2.1) using MODELICAPATH /var/lib/jenkins/workspace/OpenModelica_maintenance_v1.13/build/lib/omlibrary.
+"
 true
 ""
-true
 ""
-"function Modelica.Math.Vectors.length \"Inline before index reduction\" \"Return length of a vector (better as norm(), if further symbolic processing is performed)\"
-input Real[:] v \"Vector\";
-output Real result \"Length of vector v\";
-algorithm
-result := sqrt(v * v);
-end Modelica.Math.Vectors.length;
-
-function Modelica.Math.Vectors.normalizeWithAssert \"Inline before index reduction\" \"Return normalized vector such that length = 1 (trigger an assert for zero vector)\"
-input Real[:] v \"Vector\";
-output Real[size(v, 1)] result \"Input vector v normalized to length=1\";
-algorithm
-assert(Modelica.Math.Vectors.length(v) > 0.0, \"Vector v={0,0,0} shall be normalized (= v/sqrt(v*v)), but this results in a division by zero.
-Provide a non-zero vector!\");
-result := v / Modelica.Math.Vectors.length(v);
-end Modelica.Math.Vectors.normalizeWithAssert;
-
-function Modelica.Mechanics.MultiBody.Frames.Internal.resolve1_der \"Inline before index reduction\" \"Derivative of function Frames.resolve1(..)\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v2 \"Vector resolved in frame 2\";
-input Real[3] v2_der \"= der(v2)\";
-output Real[3] v1_der \"Derivative of vector v resolved in frame 1\";
-algorithm
-v1_der := Modelica.Mechanics.MultiBody.Frames.resolve1(R, {v2_der[1] + R.w[2] * v2[3] - R.w[3] * v2[2], v2_der[2] + R.w[3] * v2[1] - R.w[1] * v2[3], v2_der[3] + R.w[1] * v2[2] - R.w[2] * v2[1]});
-end Modelica.Mechanics.MultiBody.Frames.Internal.resolve1_der;
-
-function Modelica.Mechanics.MultiBody.Frames.Internal.resolve2_der \"Inline before index reduction\" \"Derivative of function Frames.resolve2(..)\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v1 \"Vector resolved in frame 1\";
-input Real[3] v1_der \"= der(v1)\";
-output Real[3] v2_der \"Derivative of vector v resolved in frame 2\";
-algorithm
-v2_der := Modelica.Mechanics.MultiBody.Frames.resolve2(R, {v1_der[1], v1_der[2], v1_der[3]}) - cross({R.w[1], R.w[2], R.w[3]}, Modelica.Mechanics.MultiBody.Frames.resolve2(R, {v1[1], v1[2], v1[3]}));
-end Modelica.Mechanics.MultiBody.Frames.Internal.resolve2_der;
-
-function Modelica.Mechanics.MultiBody.Frames.Orientation \"Automatically generated record constructor for Modelica.Mechanics.MultiBody.Frames.Orientation\"
-input Real[3, 3] T;
-input Real[3] w(quantity = \"AngularVelocity\", unit = \"rad/s\");
-output Orientation res;
-end Modelica.Mechanics.MultiBody.Frames.Orientation;
-
-function Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint \"Inline before index reduction\" \"Return the constraint residues to express that two frames have the same orientation\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R1 \"Orientation object to rotate frame 0 into frame 1\";
-input Modelica.Mechanics.MultiBody.Frames.Orientation R2 \"Orientation object to rotate frame 0 into frame 2\";
-output Real[3] residue \"The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation (should be zero)\";
-algorithm
-residue := {atan2((R1.T[1,2] * R1.T[2,3] - R1.T[1,3] * R1.T[2,2]) * R2.T[2,1] + (R1.T[1,3] * R1.T[2,1] - R1.T[1,1] * R1.T[2,3]) * R2.T[2,2] + (R1.T[1,1] * R1.T[2,2] - R1.T[1,2] * R1.T[2,1]) * R2.T[2,3], R1.T[1,1] * R2.T[1,1] + R1.T[1,2] * R2.T[1,2] + R1.T[1,3] * R2.T[1,3]), atan2((R1.T[1,1] * R1.T[2,3] - R1.T[1,3] * R1.T[2,1]) * R2.T[1,2] - (R1.T[1,1] * R1.T[2,2] - R1.T[1,2] * R1.T[2,1]) * R2.T[1,3] - (R1.T[1,2] * R1.T[2,3] - R1.T[1,3] * R1.T[2,2]) * R2.T[1,1], R1.T[2,1] * R2.T[2,1] + R1.T[2,2] * R2.T[2,2] + R1.T[2,3] * R2.T[2,3]), atan2(R1.T[2,1] * R2.T[1,1] + R1.T[2,2] * R2.T[1,2] + R1.T[2,3] * R2.T[1,3], R1.T[3,1] * R2.T[3,1] + R1.T[3,2] * R2.T[3,2] + R1.T[3,3] * R2.T[3,3])};
-end Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint;
-
-function Modelica.Mechanics.MultiBody.Frames.Quaternions.angularVelocity2 \"Inline before index reduction\" \"Compute angular velocity resolved in frame 2 from quaternions orientation object and its derivative\"
-input Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2\";
-input Real[4] der_Q(unit = \"1/s\") \"Derivative of Q\";
-output Real[3] w(quantity = \"AngularVelocity\", unit = \"rad/s\") \"Angular velocity of frame 2 with respect to frame 1 resolved in frame 2\";
-algorithm
-w := {(Q[4] * der_Q[1] + Q[3] * der_Q[2] - Q[2] * der_Q[3] - Q[1] * der_Q[4]) * 2.0, (Q[4] * der_Q[2] - Q[3] * der_Q[1] + Q[1] * der_Q[3] - Q[2] * der_Q[4]) * 2.0, (Q[2] * der_Q[1] - Q[1] * der_Q[2] + Q[4] * der_Q[3] - Q[3] * der_Q[4]) * 2.0};
-end Modelica.Mechanics.MultiBody.Frames.Quaternions.angularVelocity2;
-
-function Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T \"Return quaternion orientation object Q from transformation matrix T\"
-input Real[3, 3] T \"Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1)\";
-input Real[4] Q_guess = {0.0, 0.0, 0.0, 1.0} \"Guess value for Q (there are 2 solutions; the one close to Q_guess is used\";
-output Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2 (Q and -Q have same transformation matrix)\";
-protected Real paux;
-protected Real paux4;
-protected Real c1;
-protected Real c2;
-protected Real c3;
-protected Real c4;
-protected constant Real p4limit = 0.1;
-protected constant Real c4limit = 0.04000000000000001;
-algorithm
-c1 := 1.0 + T[1,1] + (-T[2,2]) - T[3,3];
-c2 := 1.0 + T[2,2] + (-T[1,1]) - T[3,3];
-c3 := 1.0 + T[3,3] + (-T[1,1]) - T[2,2];
-c4 := 1.0 + T[1,1] + T[2,2] + T[3,3];
-if c4 > 0.04000000000000001 or c4 > c1 and c4 > c2 and c4 > c3 then
-paux := 0.5 * sqrt(c4);
-paux4 := 4.0 * paux;
-Q := {(T[2,3] - T[3,2]) / paux4, (T[3,1] - T[1,3]) / paux4, (T[1,2] - T[2,1]) / paux4, paux};
-elseif c1 > c2 and c1 > c3 and c1 > c4 then
-paux := 0.5 * sqrt(c1);
-paux4 := 4.0 * paux;
-Q := {paux, (T[1,2] + T[2,1]) / paux4, (T[1,3] + T[3,1]) / paux4, (T[2,3] - T[3,2]) / paux4};
-elseif c2 > c1 and c2 > c3 and c2 > c4 then
-paux := 0.5 * sqrt(c2);
-paux4 := 4.0 * paux;
-Q := {(T[1,2] + T[2,1]) / paux4, paux, (T[2,3] + T[3,2]) / paux4, (T[3,1] - T[1,3]) / paux4};
-else
-paux := 0.5 * sqrt(c3);
-paux4 := 4.0 * paux;
-Q := {(T[1,3] + T[3,1]) / paux4, (T[2,3] + T[3,2]) / paux4, paux, (T[1,2] - T[2,1]) / paux4};
-end if;
-if Q[1] * Q_guess[1] + Q[2] * Q_guess[2] + Q[3] * Q_guess[3] + Q[4] * Q_guess[4] < 0.0 then
-Q := {-Q[1], -Q[2], -Q[3], -Q[4]};
-end if;
-end Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T;
-
-function Modelica.Mechanics.MultiBody.Frames.Quaternions.nullRotation \"Inline before index reduction\" \"Return quaternion orientation object that does not rotate a frame\"
-output Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2\";
-algorithm
-Q := {0.0, 0.0, 0.0, 1.0};
-end Modelica.Mechanics.MultiBody.Frames.Quaternions.nullRotation;
-
-function Modelica.Mechanics.MultiBody.Frames.Quaternions.orientationConstraint \"Inline before index reduction\" \"Return residues of orientation constraints (shall be zero)\"
-input Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2\";
-output Real[1] residue \"Residue constraint (shall be zero)\";
-algorithm
-residue := {-1.0 + Q[1] ^ 2.0 + Q[2] ^ 2.0 + Q[3] ^ 2.0 + Q[4] ^ 2.0};
-end Modelica.Mechanics.MultiBody.Frames.Quaternions.orientationConstraint;
-
-function Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation \"Inline before index reduction\" \"Return rotation object to rotate around one frame axis\"
-input Integer axis(min = 1, max = 3) \"Rotate around 'axis' of frame 1\";
-input Real angle(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Rotation angle to rotate frame 1 into frame 2 along 'axis' of frame 1\";
-output Real[3, 3] T \"Orientation object to rotate frame 1 into frame 2\";
-algorithm
-T := if axis == 1 then {{1.0, 0.0, 0.0}, {0.0, cos(angle), sin(angle)}, {0.0, -sin(angle), cos(angle)}} else if axis == 2 then {{cos(angle), 0.0, -sin(angle)}, {0.0, 1.0, 0.0}, {sin(angle), 0.0, cos(angle)}} else {{cos(angle), sin(angle), 0.0}, {-sin(angle), cos(angle), 0.0}, {0.0, 0.0, 1.0}};
-end Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation;
-
-function Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.planarRotation \"Inline before index reduction\" \"Return orientation object of a planar rotation\"
-input Real[3] e(unit = \"1\") \"Normalized axis of rotation (must have length=1)\";
-input Real angle(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Rotation angle to rotate frame 1 into frame 2 along axis e\";
-output Real[3, 3] T \"Orientation object to rotate frame 1 into frame 2\";
-algorithm
-T := {{e[1] ^ 2.0 + (1.0 - e[1] ^ 2.0) * cos(angle), (e[1] - e[1] * cos(angle)) * e[2] + e[3] * sin(angle), (e[1] - e[1] * cos(angle)) * e[3] - e[2] * sin(angle)}, {(e[2] - e[2] * cos(angle)) * e[1] - e[3] * sin(angle), e[2] ^ 2.0 + (1.0 - e[2] ^ 2.0) * cos(angle), (e[2] - e[2] * cos(angle)) * e[3] + e[1] * sin(angle)}, {(e[3] - e[3] * cos(angle)) * e[1] + e[2] * sin(angle), (e[3] - e[3] * cos(angle)) * e[2] - e[1] * sin(angle), e[3] ^ 2.0 + (1.0 - e[3] ^ 2.0) * cos(angle)}};
-end Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.planarRotation;
-
-function Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve1 \"Inline before index reduction\" \"Transform vector from frame 2 to frame 1\"
-input Real[3, 3] T \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v2 \"Vector in frame 2\";
-output Real[3] v1 \"Vector in frame 1\";
-algorithm
-v1 := {T[1,1] * v2[1] + T[2,1] * v2[2] + T[3,1] * v2[3], T[1,2] * v2[1] + T[2,2] * v2[2] + T[3,2] * v2[3], T[1,3] * v2[1] + T[2,3] * v2[2] + T[3,3] * v2[3]};
-end Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve1;
-
-function Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2 \"Inline before index reduction\" \"Transform vector from frame 1 to frame 2\"
-input Real[3, 3] T \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v1 \"Vector in frame 1\";
-output Real[3] v2 \"Vector in frame 2\";
-algorithm
-v2 := {T[1,1] * v1[1] + T[1,2] * v1[2] + T[1,3] * v1[3], T[2,1] * v1[1] + T[2,2] * v1[2] + T[2,3] * v1[3], T[3,1] * v1[1] + T[3,2] * v1[2] + T[3,3] * v1[3]};
-end Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2;
-
-function Modelica.Mechanics.MultiBody.Frames.angularVelocity2 \"Inline before index reduction\" \"Return angular velocity resolved in frame 2 from orientation object\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-output Real[3] w(quantity = \"AngularVelocity\", unit = \"rad/s\") \"Angular velocity of frame 2 with respect to frame 1 resolved in frame 2\";
-algorithm
-w := {R.w[1], R.w[2], R.w[3]};
-end Modelica.Mechanics.MultiBody.Frames.angularVelocity2;
-
-function Modelica.Mechanics.MultiBody.Frames.axesRotations \"Inline before index reduction\" \"Return fixed rotation object to rotate in sequence around fixed angles along 3 axes\"
-input Integer[3] sequence = {1, 2, 3} \"Sequence of rotations from frame 1 to frame 2 along axis sequence[i]\";
-input Real[3] angles(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Rotation angles around the axes defined in 'sequence'\";
-input Real[3] der_angles(quantity = \"AngularVelocity\", unit = \"rad/s\") \"= der(angles)\";
-output Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-algorithm
-R := Modelica.Mechanics.MultiBody.Frames.Orientation(Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[3], angles[3]) * Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[2], angles[2]) * Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[1], angles[1]), Modelica.Mechanics.MultiBody.Frames.axis(sequence[3]) * der_angles[3] + Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2(Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[3], angles[3]), Modelica.Mechanics.MultiBody.Frames.axis(sequence[2]) * der_angles[2]) + Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2(Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[3], angles[3]) * Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation(sequence[2], angles[2]), Modelica.Mechanics.MultiBody.Frames.axis(sequence[1]) * der_angles[1]));
-end Modelica.Mechanics.MultiBody.Frames.axesRotations;
-
-function Modelica.Mechanics.MultiBody.Frames.axesRotationsAngles \"Return the 3 angles to rotate in sequence around 3 axes to construct the given orientation object\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Integer[3] sequence = {1, 2, 3} \"Sequence of rotations from frame 1 to frame 2 along axis sequence[i]\";
-input Real guessAngle1(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = 0.0 \"Select angles[1] such that |angles[1] - guessAngle1| is a minimum\";
-output Real[3] angles(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Rotation angles around the axes defined in 'sequence' such that R=Frames.axesRotation(sequence,angles); -pi < angles[i] <= pi\";
-protected Real[3] e1_1(unit = \"1\") \"First rotation axis, resolved in frame 1\";
-protected Real[3] e2_1a(unit = \"1\") \"Second rotation axis, resolved in frame 1a\";
-protected Real[3] e3_1(unit = \"1\") \"Third rotation axis, resolved in frame 1\";
-protected Real[3] e3_2(unit = \"1\") \"Third rotation axis, resolved in frame 2\";
-protected Real A \"Coefficient A in the equation A*cos(angles[1])+B*sin(angles[1]) = 0\";
-protected Real B \"Coefficient B in the equation A*cos(angles[1])+B*sin(angles[1]) = 0\";
-protected Real angle_1a(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Solution 1 for angles[1]\";
-protected Real angle_1b(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Solution 2 for angles[1]\";
-protected Real[3, 3] T_1a \"Orientation object to rotate frame 1 into frame 1a\";
-algorithm
-assert(sequence[1] <> sequence[2] and sequence[2] <> sequence[3], \"input argument 'sequence[1:3]' is not valid\");
-e1_1 := if sequence[1] == 1 then {1.0, 0.0, 0.0} else if sequence[1] == 2 then {0.0, 1.0, 0.0} else {0.0, 0.0, 1.0};
-e2_1a := if sequence[2] == 1 then {1.0, 0.0, 0.0} else if sequence[2] == 2 then {0.0, 1.0, 0.0} else {0.0, 0.0, 1.0};
-e3_1 := {R.T[sequence[3],1], R.T[sequence[3],2], R.T[sequence[3],3]};
-e3_2 := if sequence[3] == 1 then {1.0, 0.0, 0.0} else if sequence[3] == 2 then {0.0, 1.0, 0.0} else {0.0, 0.0, 1.0};
-A := e2_1a[1] * e3_1[1] + e2_1a[2] * e3_1[2] + e2_1a[3] * e3_1[3];
-B := (e1_1[2] * e2_1a[3] - e1_1[3] * e2_1a[2]) * e3_1[1] + (e1_1[3] * e2_1a[1] - e1_1[1] * e2_1a[3]) * e3_1[2] + (e1_1[1] * e2_1a[2] - e1_1[2] * e2_1a[1]) * e3_1[3];
-if abs(A) <= 1e-12 and abs(B) <= 1e-12 then
-angles[1] := guessAngle1;
-else
-angle_1a := atan2(A, -B);
-angle_1b := atan2(-A, B);
-angles[1] := if abs(angle_1a - guessAngle1) <= abs(angle_1b - guessAngle1) then angle_1a else angle_1b;
-end if;
-T_1a := Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.planarRotation({e1_1[1], e1_1[2], e1_1[3]}, angles[1]);
-angles[2] := Modelica.Mechanics.MultiBody.Frames.planarRotationAngle({e2_1a[1], e2_1a[2], e2_1a[3]}, Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2({{T_1a[1,1], T_1a[1,2], T_1a[1,3]}, {T_1a[2,1], T_1a[2,2], T_1a[2,3]}, {T_1a[3,1], T_1a[3,2], T_1a[3,3]}}, {e3_1[1], e3_1[2], e3_1[3]}), {e3_2[1], e3_2[2], e3_2[3]});
-angles[3] := Modelica.Mechanics.MultiBody.Frames.planarRotationAngle({e3_2[1], e3_2[2], e3_2[3]}, {e2_1a[1], e2_1a[2], e2_1a[3]}, Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve2({{R.T[1,1], R.T[1,2], R.T[1,3]}, {R.T[2,1], R.T[2,2], R.T[2,3]}, {R.T[3,1], R.T[3,2], R.T[3,3]}}, Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve1({{T_1a[1,1], T_1a[1,2], T_1a[1,3]}, {T_1a[2,1], T_1a[2,2], T_1a[2,3]}, {T_1a[3,1], T_1a[3,2], T_1a[3,3]}}, {e2_1a[1], e2_1a[2], e2_1a[3]})));
-end Modelica.Mechanics.MultiBody.Frames.axesRotationsAngles;
-
-function Modelica.Mechanics.MultiBody.Frames.axis \"Inline before index reduction\" \"Return unit vector for x-, y-, or z-axis\"
-input Integer axis(min = 1, max = 3) \"Axis vector to be returned\";
-output Real[3] e(unit = \"1\") \"Unit axis vector\";
-algorithm
-e := if axis == 1 then {1.0, 0.0, 0.0} else if axis == 2 then {0.0, 1.0, 0.0} else {0.0, 0.0, 1.0};
-end Modelica.Mechanics.MultiBody.Frames.axis;
-
-function Modelica.Mechanics.MultiBody.Frames.from_Q \"Inline before index reduction\" \"Return orientation object R from quaternion orientation object Q\"
-input Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2\";
-input Real[3] w(quantity = \"AngularVelocity\", unit = \"rad/s\") \"Angular velocity from frame 2 with respect to frame 1, resolved in frame 2\";
-output Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-algorithm
-R := Modelica.Mechanics.MultiBody.Frames.Orientation({{-1.0 + 2.0 * (Q[1] ^ 2.0 + Q[4] ^ 2.0), 2.0 * (Q[1] * Q[2] + Q[3] * Q[4]), 2.0 * (Q[1] * Q[3] - Q[2] * Q[4])}, {2.0 * (Q[2] * Q[1] - Q[3] * Q[4]), -1.0 + 2.0 * (Q[2] ^ 2.0 + Q[4] ^ 2.0), 2.0 * (Q[2] * Q[3] + Q[1] * Q[4])}, {2.0 * (Q[3] * Q[1] + Q[2] * Q[4]), 2.0 * (Q[3] * Q[2] - Q[1] * Q[4]), -1.0 + 2.0 * (Q[3] ^ 2.0 + Q[4] ^ 2.0)}}, {w[1], w[2], w[3]});
-end Modelica.Mechanics.MultiBody.Frames.from_Q;
-
-function Modelica.Mechanics.MultiBody.Frames.nullRotation \"Inline before index reduction\" \"Return orientation object that does not rotate a frame\"
-output Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object such that frame 1 and frame 2 are identical\";
-algorithm
-R := Modelica.Mechanics.MultiBody.Frames.Orientation({{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0}}, {0.0, 0.0, 0.0});
-end Modelica.Mechanics.MultiBody.Frames.nullRotation;
-
-function Modelica.Mechanics.MultiBody.Frames.planarRotationAngle \"Inline before index reduction\" \"Return angle of a planar rotation, given the rotation axis and the representations of a vector in frame 1 and frame 2\"
-input Real[3] e(unit = \"1\") \"Normalized axis of rotation to rotate frame 1 around e into frame 2 (must have length=1)\";
-input Real[3] v1 \"A vector v resolved in frame 1 (shall not be parallel to e)\";
-input Real[3] v2 \"Vector v resolved in frame 2, i.e., v2 = resolve2(planarRotation(e,angle),v1)\";
-output Real angle(quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") \"Rotation angle to rotate frame 1 into frame 2 along axis e in the range: -pi <= angle <= pi\";
-algorithm
-angle := atan2((e[1] * v1[3] - e[3] * v1[1]) * v2[2] - (e[1] * v1[2] - e[2] * v1[1]) * v2[3] - (e[2] * v1[3] - e[3] * v1[2]) * v2[1], v1[1] * v2[1] + v1[2] * v2[2] + v1[3] * v2[3] + ((-e[2]) * v1[2] - e[3] * v1[3] - e[1] * v1[1]) * (e[1] * v2[1] + e[2] * v2[2] + e[3] * v2[3]));
-end Modelica.Mechanics.MultiBody.Frames.planarRotationAngle;
-
-function Modelica.Mechanics.MultiBody.Frames.resolve1 \"Inline after index reduction\" \"Transform vector from frame 2 to frame 1\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v2 \"Vector in frame 2\";
-output Real[3] v1 \"Vector in frame 1\";
-algorithm
-v1 := {R.T[1,1] * v2[1] + R.T[2,1] * v2[2] + R.T[3,1] * v2[3], R.T[1,2] * v2[1] + R.T[2,2] * v2[2] + R.T[3,2] * v2[3], R.T[1,3] * v2[1] + R.T[2,3] * v2[2] + R.T[3,3] * v2[3]};
-end Modelica.Mechanics.MultiBody.Frames.resolve1;
-
-function Modelica.Mechanics.MultiBody.Frames.resolve2 \"Inline after index reduction\" \"Transform vector from frame 1 to frame 2\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Real[3] v1 \"Vector in frame 1\";
-output Real[3] v2 \"Vector in frame 2\";
-algorithm
-v2 := {R.T[1,1] * v1[1] + R.T[1,2] * v1[2] + R.T[1,3] * v1[3], R.T[2,1] * v1[1] + R.T[2,2] * v1[2] + R.T[2,3] * v1[3], R.T[3,1] * v1[1] + R.T[3,2] * v1[2] + R.T[3,3] * v1[3]};
-end Modelica.Mechanics.MultiBody.Frames.resolve2;
-
-function Modelica.Mechanics.MultiBody.Frames.to_Q \"Inline before index reduction\" \"Return quaternion orientation object Q from orientation object R\"
-input Modelica.Mechanics.MultiBody.Frames.Orientation R \"Orientation object to rotate frame 1 into frame 2\";
-input Real[4] Q_guess = {0.0, 0.0, 0.0, 1.0} \"Guess value for output Q (there are 2 solutions; the one closer to Q_guess is used\";
-output Real[4] Q \"Quaternions orientation object to rotate frame 1 into frame 2\";
-algorithm
-Q := Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T({{R.T[1,1], R.T[1,2], R.T[1,3]}, {R.T[2,1], R.T[2,2], R.T[2,3]}, {R.T[3,1], R.T[3,2], R.T[3,3]}}, {Q_guess[1], Q_guess[2], Q_guess[3], Q_guess[4]});
-end Modelica.Mechanics.MultiBody.Frames.to_Q;
-
-function Modelica.Mechanics.MultiBody.World$world.gravityAcceleration \"Inline before index reduction\" \"Standard gravity fields (no/parallel/point field)\"
-input Real[3] r(quantity = \"Length\", unit = \"m\") \"Position vector from world frame to actual point, resolved in world frame\";
-output Real[3] gravity(quantity = \"Acceleration\", unit = \"m/s2\") \"Gravity acceleration at position r, resolved in world frame\";
-input enumeration(NoGravity, UniformGravity, PointGravity) gravityType = gravityType \"Type of gravity field\";
-input Real[3] g(quantity = \"Acceleration\", unit = \"m/s2\") = {0.0, -g, 0.0} \"Constant gravity acceleration, resolved in world frame, if gravityType=UniformGravity\";
-input Real mue(unit = \"m3/s2\") = mue \"Field constant of point gravity field, if gravityType=PointGravity\";
-algorithm
-gravity := if gravityType == Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity then {g[1], g[2], g[3]} else if gravityType == Modelica.Mechanics.MultiBody.Types.GravityTypes.PointGravity then {(-mue) * r[1] / (Modelica.Math.Vectors.length({r[1], r[2], r[3]}) * (r[1] ^ 2.0 + r[2] ^ 2.0 + r[3] ^ 2.0)), (-mue) * r[2] / (Modelica.Math.Vectors.length({r[1], r[2], r[3]}) * (r[1] ^ 2.0 + r[2] ^ 2.0 + r[3] ^ 2.0)), (-mue) * r[3] / (Modelica.Math.Vectors.length({r[1], r[2], r[3]}) * (r[1] ^ 2.0 + r[2] ^ 2.0 + r[3] ^ 2.0))} else {0.0, 0.0, 0.0};
-end Modelica.Mechanics.MultiBody.World$world.gravityAcceleration;
-
-class Test
-Real subModel1.frame_a.r_0[1](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real subModel1.frame_a.r_0[2](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real subModel1.frame_a.r_0[3](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real subModel1.frame_a.R.T[1,1] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[1,2] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[1,3] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[2,1] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[2,2] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[2,3] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[3,1] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[3,2] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.T[3,3] \"Transformation matrix from world frame to local frame\";
-Real subModel1.frame_a.R.w[1](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real subModel1.frame_a.R.w[2](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real subModel1.frame_a.R.w[3](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real subModel1.frame_a.f[1](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real subModel1.frame_a.f[2](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real subModel1.frame_a.f[3](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real subModel1.frame_a.t[1](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real subModel1.frame_a.t[2](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real subModel1.frame_a.t[3](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real mass.frame_a.r_0[1](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real mass.frame_a.r_0[2](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real mass.frame_a.r_0[3](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real mass.frame_a.R.T[1,1] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[1,2] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[1,3] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[2,1] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[2,2] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[2,3] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[3,1] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[3,2] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.T[3,3] \"Transformation matrix from world frame to local frame\";
-Real mass.frame_a.R.w[1](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real mass.frame_a.R.w[2](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real mass.frame_a.R.w[3](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real mass.frame_a.f[1](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real mass.frame_a.f[2](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real mass.frame_a.f[3](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real mass.frame_a.t[1](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real mass.frame_a.t[2](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real mass.frame_a.t[3](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-parameter Boolean mass.animation = false \"= true, if animation shall be enabled (show cylinder and sphere)\";
-parameter Real mass.r_CM[1](quantity = \"Length\", unit = \"m\", start = 0.0) = 0.0 \"Vector from frame_a to center of mass, resolved in frame_a\";
-parameter Real mass.r_CM[2](quantity = \"Length\", unit = \"m\", start = 0.0) = 0.0 \"Vector from frame_a to center of mass, resolved in frame_a\";
-parameter Real mass.r_CM[3](quantity = \"Length\", unit = \"m\", start = 0.0) = 0.0 \"Vector from frame_a to center of mass, resolved in frame_a\";
-parameter Real mass.m(quantity = \"Mass\", unit = \"kg\", min = 0.0, start = 1.0) = 1.0 \"Mass of rigid body\";
-parameter Real mass.I_11(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = 0.0) = 1.0 \"(1,1) element of inertia tensor\";
-parameter Real mass.I_22(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = 0.0) = 1.0 \"(2,2) element of inertia tensor\";
-parameter Real mass.I_33(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = 0.0) = 1.0 \"(3,3) element of inertia tensor\";
-parameter Real mass.I_21(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = -9.999999999999999e+59) = 0.0 \"(2,1) element of inertia tensor\";
-parameter Real mass.I_31(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = -9.999999999999999e+59) = 0.0 \"(3,1) element of inertia tensor\";
-parameter Real mass.I_32(quantity = \"MomentOfInertia\", unit = \"kg.m2\", min = -9.999999999999999e+59) = 0.0 \"(3,2) element of inertia tensor\";
-Real mass.r_0[1](quantity = \"Length\", unit = \"m\", start = 0.0, stateSelect = StateSelect.avoid) \"Position vector from origin of world frame to origin of frame_a\";
-Real mass.r_0[2](quantity = \"Length\", unit = \"m\", start = 0.0, stateSelect = StateSelect.avoid) \"Position vector from origin of world frame to origin of frame_a\";
-Real mass.r_0[3](quantity = \"Length\", unit = \"m\", start = 0.0, stateSelect = StateSelect.avoid) \"Position vector from origin of world frame to origin of frame_a\";
-Real mass.v_0[1](quantity = \"Velocity\", unit = \"m/s\", start = 0.0, stateSelect = StateSelect.avoid) \"Absolute velocity of frame_a, resolved in world frame (= der(r_0))\";
-Real mass.v_0[2](quantity = \"Velocity\", unit = \"m/s\", start = 0.0, stateSelect = StateSelect.avoid) \"Absolute velocity of frame_a, resolved in world frame (= der(r_0))\";
-Real mass.v_0[3](quantity = \"Velocity\", unit = \"m/s\", start = 0.0, stateSelect = StateSelect.avoid) \"Absolute velocity of frame_a, resolved in world frame (= der(r_0))\";
-Real mass.a_0[1](quantity = \"Acceleration\", unit = \"m/s2\", start = 0.0) \"Absolute acceleration of frame_a resolved in world frame (= der(v_0))\";
-Real mass.a_0[2](quantity = \"Acceleration\", unit = \"m/s2\", start = 0.0) \"Absolute acceleration of frame_a resolved in world frame (= der(v_0))\";
-Real mass.a_0[3](quantity = \"Acceleration\", unit = \"m/s2\", start = 0.0) \"Absolute acceleration of frame_a resolved in world frame (= der(v_0))\";
-parameter Boolean mass.angles_fixed = false \"= true, if angles_start are used as initial values, else as guess values\";
-parameter Real mass.angles_start[1](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = 0.0 \"Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b\";
-parameter Real mass.angles_start[2](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = 0.0 \"Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b\";
-parameter Real mass.angles_start[3](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = 0.0 \"Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b\";
-parameter Integer mass.sequence_start[1](min = 1, max = 3) = 1 \"Sequence of rotations to rotate frame_a into frame_b at initial time\";
-parameter Integer mass.sequence_start[2](min = 1, max = 3) = 2 \"Sequence of rotations to rotate frame_a into frame_b at initial time\";
-parameter Integer mass.sequence_start[3](min = 1, max = 3) = 3 \"Sequence of rotations to rotate frame_a into frame_b at initial time\";
-parameter Boolean mass.w_0_fixed = false \"= true, if w_0_start are used as initial values, else as guess values\";
-parameter Real mass.w_0_start[1](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Initial or guess values of angular velocity of frame_a resolved in world frame\";
-parameter Real mass.w_0_start[2](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Initial or guess values of angular velocity of frame_a resolved in world frame\";
-parameter Real mass.w_0_start[3](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Initial or guess values of angular velocity of frame_a resolved in world frame\";
-parameter Boolean mass.z_0_fixed = false \"= true, if z_0_start are used as initial values, else as guess values\";
-parameter Real mass.z_0_start[1](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = 0.0 \"Initial values of angular acceleration z_0 = der(w_0)\";
-parameter Real mass.z_0_start[2](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = 0.0 \"Initial values of angular acceleration z_0 = der(w_0)\";
-parameter Real mass.z_0_start[3](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = 0.0 \"Initial values of angular acceleration z_0 = der(w_0)\";
-parameter Real mass.sphereDiameter(quantity = \"Length\", unit = \"m\", min = 0.0) = world.defaultBodyDiameter \"Diameter of sphere\";
-Integer mass.sphereColor[1](min = 0, max = 255) \"Color of sphere\";
-Integer mass.sphereColor[2](min = 0, max = 255) \"Color of sphere\";
-Integer mass.sphereColor[3](min = 0, max = 255) \"Color of sphere\";
-parameter Real mass.cylinderDiameter(quantity = \"Length\", unit = \"m\", min = 0.0) = 0.3333333333333333 * mass.sphereDiameter \"Diameter of cylinder\";
-Integer mass.cylinderColor[1](min = 0, max = 255) \"Color of cylinder\";
-Integer mass.cylinderColor[2](min = 0, max = 255) \"Color of cylinder\";
-Integer mass.cylinderColor[3](min = 0, max = 255) \"Color of cylinder\";
-Real mass.specularCoefficient(min = 0.0) = world.defaultSpecularCoefficient \"Reflection of ambient light (= 0: light is completely absorbed)\";
-parameter Boolean mass.enforceStates = false \"= true, if absolute variables of body object shall be used as states (StateSelect.always)\";
-parameter Boolean mass.useQuaternions = true \"= true, if quaternions shall be used as potential states otherwise use 3 angles as potential states\";
-parameter Integer mass.sequence_angleStates[1](min = 1, max = 3) = 1 \"Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states\";
-parameter Integer mass.sequence_angleStates[2](min = 1, max = 3) = 2 \"Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states\";
-parameter Integer mass.sequence_angleStates[3](min = 1, max = 3) = 3 \"Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states\";
-final parameter Real mass.I[1,1](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_11 \"inertia tensor\";
-final parameter Real mass.I[1,2](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_21 \"inertia tensor\";
-final parameter Real mass.I[1,3](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_31 \"inertia tensor\";
-final parameter Real mass.I[2,1](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_21 \"inertia tensor\";
-final parameter Real mass.I[2,2](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_22 \"inertia tensor\";
-final parameter Real mass.I[2,3](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_32 \"inertia tensor\";
-final parameter Real mass.I[3,1](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_31 \"inertia tensor\";
-final parameter Real mass.I[3,2](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_32 \"inertia tensor\";
-final parameter Real mass.I[3,3](quantity = \"MomentOfInertia\", unit = \"kg.m2\") = mass.I_33 \"inertia tensor\";
-final parameter Real mass.R_start.T[1,1] = 1.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[1,2] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[1,3] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[2,1] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[2,2] = 1.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[2,3] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[3,1] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[3,2] = 0.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.T[3,3] = 1.0 \"Transformation matrix from world frame to local frame\";
-final parameter Real mass.R_start.w[1](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Absolute angular velocity of local frame, resolved in local frame\";
-final parameter Real mass.R_start.w[2](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Absolute angular velocity of local frame, resolved in local frame\";
-final parameter Real mass.R_start.w[3](quantity = \"AngularVelocity\", unit = \"rad/s\") = 0.0 \"Absolute angular velocity of local frame, resolved in local frame\";
-final parameter Real mass.z_a_start[1](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[1] \"Initial values of angular acceleration z_a = der(w_a), i.e., time derivative of angular velocity resolved in frame_a\";
-final parameter Real mass.z_a_start[2](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[2] \"Initial values of angular acceleration z_a = der(w_a), i.e., time derivative of angular velocity resolved in frame_a\";
-final parameter Real mass.z_a_start[3](quantity = \"AngularAcceleration\", unit = \"rad/s2\") = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[3] \"Initial values of angular acceleration z_a = der(w_a), i.e., time derivative of angular velocity resolved in frame_a\";
-Real mass.w_a[1](quantity = \"AngularVelocity\", unit = \"rad/s\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.w_0_start[1], mass.w_0_start[2], mass.w_0_start[3]})[1], fixed = false, stateSelect = StateSelect.avoid) \"Absolute angular velocity of frame_a resolved in frame_a\";
-Real mass.w_a[2](quantity = \"AngularVelocity\", unit = \"rad/s\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.w_0_start[1], mass.w_0_start[2], mass.w_0_start[3]})[2], fixed = false, stateSelect = StateSelect.avoid) \"Absolute angular velocity of frame_a resolved in frame_a\";
-Real mass.w_a[3](quantity = \"AngularVelocity\", unit = \"rad/s\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.w_0_start[1], mass.w_0_start[2], mass.w_0_start[3]})[3], fixed = false, stateSelect = StateSelect.avoid) \"Absolute angular velocity of frame_a resolved in frame_a\";
-Real mass.z_a[1](quantity = \"AngularAcceleration\", unit = \"rad/s2\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[1], fixed = false) \"Absolute angular acceleration of frame_a resolved in frame_a\";
-Real mass.z_a[2](quantity = \"AngularAcceleration\", unit = \"rad/s2\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[2], fixed = false) \"Absolute angular acceleration of frame_a resolved in frame_a\";
-Real mass.z_a[3](quantity = \"AngularAcceleration\", unit = \"rad/s2\", start = Modelica.Mechanics.MultiBody.Frames.resolve2(mass.R_start, {mass.z_0_start[1], mass.z_0_start[2], mass.z_0_start[3]})[3], fixed = false) \"Absolute angular acceleration of frame_a resolved in frame_a\";
-Real mass.g_0[1](quantity = \"Acceleration\", unit = \"m/s2\") \"Gravity acceleration resolved in world frame\";
-Real mass.g_0[2](quantity = \"Acceleration\", unit = \"m/s2\") \"Gravity acceleration resolved in world frame\";
-Real mass.g_0[3](quantity = \"Acceleration\", unit = \"m/s2\") \"Gravity acceleration resolved in world frame\";
-protected parameter Real mass.Q_start[1] = Modelica.Mechanics.MultiBody.Frames.to_Q(mass.R_start, {0.0, 0.0, 0.0, 1.0})[1] \"Quaternion orientation object from world frame to frame_a at initial time\";
-protected parameter Real mass.Q_start[2] = Modelica.Mechanics.MultiBody.Frames.to_Q(mass.R_start, {0.0, 0.0, 0.0, 1.0})[2] \"Quaternion orientation object from world frame to frame_a at initial time\";
-protected parameter Real mass.Q_start[3] = Modelica.Mechanics.MultiBody.Frames.to_Q(mass.R_start, {0.0, 0.0, 0.0, 1.0})[3] \"Quaternion orientation object from world frame to frame_a at initial time\";
-protected parameter Real mass.Q_start[4] = Modelica.Mechanics.MultiBody.Frames.to_Q(mass.R_start, {0.0, 0.0, 0.0, 1.0})[4] \"Quaternion orientation object from world frame to frame_a at initial time\";
-protected Real mass.Q[1](start = mass.Q_start[1], stateSelect = StateSelect.avoid) \"Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)\";
-protected Real mass.Q[2](start = mass.Q_start[2], stateSelect = StateSelect.avoid) \"Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)\";
-protected Real mass.Q[3](start = mass.Q_start[3], stateSelect = StateSelect.avoid) \"Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)\";
-protected Real mass.Q[4](start = mass.Q_start[4], stateSelect = StateSelect.avoid) \"Quaternion orientation object from world frame to frame_a (dummy value, if quaternions are not used as states)\";
-protected parameter Real mass.phi_start[1](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = if mass.sequence_start[1] == mass.sequence_angleStates[1] and mass.sequence_start[2] == mass.sequence_angleStates[2] and mass.sequence_start[3] == mass.sequence_angleStates[3] then mass.angles_start[1] else Modelica.Mechanics.MultiBody.Frames.axesRotationsAngles(mass.R_start, {mass.sequence_angleStates[1], mass.sequence_angleStates[2], mass.sequence_angleStates[3]}, 0.0)[1] \"Potential angle states at initial time\";
-protected parameter Real mass.phi_start[2](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = if mass.sequence_start[1] == mass.sequence_angleStates[1] and mass.sequence_start[2] == mass.sequence_angleStates[2] and mass.sequence_start[3] == mass.sequence_angleStates[3] then mass.angles_start[2] else Modelica.Mechanics.MultiBody.Frames.axesRotationsAngles(mass.R_start, {mass.sequence_angleStates[1], mass.sequence_angleStates[2], mass.sequence_angleStates[3]}, 0.0)[2] \"Potential angle states at initial time\";
-protected parameter Real mass.phi_start[3](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\") = if mass.sequence_start[1] == mass.sequence_angleStates[1] and mass.sequence_start[2] == mass.sequence_angleStates[2] and mass.sequence_start[3] == mass.sequence_angleStates[3] then mass.angles_start[3] else Modelica.Mechanics.MultiBody.Frames.axesRotationsAngles(mass.R_start, {mass.sequence_angleStates[1], mass.sequence_angleStates[2], mass.sequence_angleStates[3]}, 0.0)[3] \"Potential angle states at initial time\";
-protected Real mass.phi[1](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\", start = mass.phi_start[1], stateSelect = StateSelect.avoid) \"Dummy or 3 angles to rotate world frame into frame_a of body\";
-protected Real mass.phi[2](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\", start = mass.phi_start[2], stateSelect = StateSelect.avoid) \"Dummy or 3 angles to rotate world frame into frame_a of body\";
-protected Real mass.phi[3](quantity = \"Angle\", unit = \"rad\", displayUnit = \"deg\", start = mass.phi_start[3], stateSelect = StateSelect.avoid) \"Dummy or 3 angles to rotate world frame into frame_a of body\";
-protected Real mass.phi_d[1](quantity = \"AngularVelocity\", unit = \"rad/s\", stateSelect = StateSelect.avoid) \"= der(phi)\";
-protected Real mass.phi_d[2](quantity = \"AngularVelocity\", unit = \"rad/s\", stateSelect = StateSelect.avoid) \"= der(phi)\";
-protected Real mass.phi_d[3](quantity = \"AngularVelocity\", unit = \"rad/s\", stateSelect = StateSelect.avoid) \"= der(phi)\";
-protected Real mass.phi_dd[1](quantity = \"AngularAcceleration\", unit = \"rad/s2\") \"= der(phi_d)\";
-protected Real mass.phi_dd[2](quantity = \"AngularAcceleration\", unit = \"rad/s2\") \"= der(phi_d)\";
-protected Real mass.phi_dd[3](quantity = \"AngularAcceleration\", unit = \"rad/s2\") \"= der(phi_d)\";
-Real world.frame_b.r_0[1](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real world.frame_b.r_0[2](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real world.frame_b.r_0[3](quantity = \"Length\", unit = \"m\") \"Position vector from world frame to the connector frame origin, resolved in world frame\";
-Real world.frame_b.R.T[1,1] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[1,2] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[1,3] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[2,1] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[2,2] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[2,3] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[3,1] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[3,2] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.T[3,3] \"Transformation matrix from world frame to local frame\";
-Real world.frame_b.R.w[1](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real world.frame_b.R.w[2](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real world.frame_b.R.w[3](quantity = \"AngularVelocity\", unit = \"rad/s\") \"Absolute angular velocity of local frame, resolved in local frame\";
-Real world.frame_b.f[1](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real world.frame_b.f[2](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real world.frame_b.f[3](quantity = \"Force\", unit = \"N\") \"Cut-force resolved in connector frame\";
-Real world.frame_b.t[1](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real world.frame_b.t[2](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-Real world.frame_b.t[3](quantity = \"Torque\", unit = \"N.m\") \"Cut-torque resolved in connector frame\";
-parameter Boolean world.enableAnimation = false \"= true, if animation of all components is enabled\";
-parameter Boolean world.animateWorld = true \"= true, if world coordinate system shall be visualized\";
-parameter Boolean world.animateGravity = true \"= true, if gravity field shall be visualized (acceleration vector or field center)\";
-parameter String world.label1 = \"x\" \"Label of horizontal axis in icon\";
-parameter String world.label2 = \"y\" \"Label of vertical axis in icon\";
-parameter enumeration(NoGravity, UniformGravity, PointGravity) world.gravityType = Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity \"Type of gravity field\";
-parameter Real world.g(quantity = \"Acceleration\", unit = \"m/s2\") = 9.81 \"Constant gravity acceleration\";
-parameter Real world.n[1](unit = \"1\") = 0.0 \"Direction of gravity resolved in world frame (gravity = g*n/length(n))\";
-parameter Real world.n[2](unit = \"1\") = -1.0 \"Direction of gravity resolved in world frame (gravity = g*n/length(n))\";
-parameter Real world.n[3](unit = \"1\") = 0.0 \"Direction of gravity resolved in world frame (gravity = g*n/length(n))\";
-parameter Real world.mue(unit = \"m3/s2\", min = 0.0) = 398600000000000.0 \"Gravity field constant (default = field constant of earth)\";
-parameter Boolean world.driveTrainMechanics3D = true \"= true, if 3-dim. mechanical effects of Parts.Mounting1D/Rotor1D/BevelGear1D shall be taken into account\";
-parameter Real world.axisLength(quantity = \"Length\", unit = \"m\", min = 0.0) = 0.5 * world.nominalLength \"Length of world axes arrows\";
-parameter Real world.axisDiameter(quantity = \"Length\", unit = \"m\", min = 0.0) = world.axisLength / world.defaultFrameDiameterFraction \"Diameter of world axes arrows\";
-parameter Boolean world.axisShowLabels = true \"= true, if labels shall be shown\";
-Integer world.axisColor_x[1](min = 0, max = 255) \"Color of x-arrow\";
-Integer world.axisColor_x[2](min = 0, max = 255) \"Color of x-arrow\";
-Integer world.axisColor_x[3](min = 0, max = 255) \"Color of x-arrow\";
-Integer world.axisColor_y[1](min = 0, max = 255);
-Integer world.axisColor_y[2](min = 0, max = 255);
-Integer world.axisColor_y[3](min = 0, max = 255);
-Integer world.axisColor_z[1](min = 0, max = 255) \"Color of z-arrow\";
-Integer world.axisColor_z[2](min = 0, max = 255) \"Color of z-arrow\";
-Integer world.axisColor_z[3](min = 0, max = 255) \"Color of z-arrow\";
-parameter Real world.gravityArrowTail[1](quantity = \"Length\", unit = \"m\") = 0.0 \"Position vector from origin of world frame to arrow tail, resolved in world frame\";
-parameter Real world.gravityArrowTail[2](quantity = \"Length\", unit = \"m\") = 0.0 \"Position vector from origin of world frame to arrow tail, resolved in world frame\";
-parameter Real world.gravityArrowTail[3](quantity = \"Length\", unit = \"m\") = 0.0 \"Position vector from origin of world frame to arrow tail, resolved in world frame\";
-parameter Real world.gravityArrowLength(quantity = \"Length\", unit = \"m\") = 0.5 * world.axisLength \"Length of gravity arrow\";
-parameter Real world.gravityArrowDiameter(quantity = \"Length\", unit = \"m\", min = 0.0) = world.gravityArrowLength / world.defaultWidthFraction \"Diameter of gravity arrow\";
-Integer world.gravityArrowColor[1](min = 0, max = 255) \"Color of gravity arrow\";
-Integer world.gravityArrowColor[2](min = 0, max = 255) \"Color of gravity arrow\";
-Integer world.gravityArrowColor[3](min = 0, max = 255) \"Color of gravity arrow\";
-parameter Real world.gravitySphereDiameter(quantity = \"Length\", unit = \"m\", min = 0.0) = 12742000.0 \"Diameter of sphere representing gravity center (default = mean diameter of earth)\";
-Integer world.gravitySphereColor[1](min = 0, max = 255) \"Color of gravity sphere\";
-Integer world.gravitySphereColor[2](min = 0, max = 255) \"Color of gravity sphere\";
-Integer world.gravitySphereColor[3](min = 0, max = 255) \"Color of gravity sphere\";
-parameter Real world.nominalLength(quantity = \"Length\", unit = \"m\") = 1.0 \"\\\"Nominal\\\" length of multi-body system\";
-parameter Real world.defaultAxisLength(quantity = \"Length\", unit = \"m\") = 0.2 * world.nominalLength \"Default for length of a frame axis (but not world frame)\";
-parameter Real world.defaultJointLength(quantity = \"Length\", unit = \"m\") = 0.1 * world.nominalLength \"Default for the fixed length of a shape representing a joint\";
-parameter Real world.defaultJointWidth(quantity = \"Length\", unit = \"m\") = 0.05 * world.nominalLength \"Default for the fixed width of a shape representing a joint\";
-parameter Real world.defaultForceLength(quantity = \"Length\", unit = \"m\") = 0.1 * world.nominalLength \"Default for the fixed length of a shape representing a force (e.g., damper)\";
-parameter Real world.defaultForceWidth(quantity = \"Length\", unit = \"m\") = 0.05 * world.nominalLength \"Default for the fixed width of a shape representing a force (e.g., spring, bushing)\";
-parameter Real world.defaultBodyDiameter(quantity = \"Length\", unit = \"m\") = 0.1111111111111111 * world.nominalLength \"Default for diameter of sphere representing the center of mass of a body\";
-parameter Real world.defaultWidthFraction = 20.0 \"Default for shape width as a fraction of shape length (e.g., for Parts.FixedTranslation)\";
-parameter Real world.defaultArrowDiameter(quantity = \"Length\", unit = \"m\") = 0.025 * world.nominalLength \"Default for arrow diameter (e.g., of forces, torques, sensors)\";
-parameter Real world.defaultFrameDiameterFraction = 40.0 \"Default for arrow diameter of a coordinate system as a fraction of axis length\";
-parameter Real world.defaultSpecularCoefficient(min = 0.0) = 0.7 \"Default reflection of ambient light (= 0: light is completely absorbed)\";
-parameter Real world.defaultN_to_m(unit = \"N/m\", min = 0.0) = 1000.0 \"Default scaling of force arrows (length = force/defaultN_to_m)\";
-parameter Real world.defaultNm_to_m(unit = \"N.m/m\", min = 0.0) = 1000.0 \"Default scaling of torque arrows (length = torque/defaultNm_to_m)\";
-protected parameter Integer world.ndim = if world.enableAnimation and world.animateWorld then 1 else 0;
-protected parameter Integer world.ndim2 = if world.enableAnimation and world.animateWorld and world.axisShowLabels then 1 else 0;
-protected parameter Real world.headLength(quantity = \"Length\", unit = \"m\") = min(world.axisLength, 5.0 * world.axisDiameter);
-protected parameter Real world.headWidth(quantity = \"Length\", unit = \"m\") = 3.0 * world.axisDiameter;
-protected parameter Real world.lineLength(quantity = \"Length\", unit = \"m\") = max(0.0, world.axisLength - world.headLength);
-protected parameter Real world.lineWidth(quantity = \"Length\", unit = \"m\") = world.axisDiameter;
-protected parameter Real world.scaledLabel(quantity = \"Length\", unit = \"m\") = 3.0 * world.axisDiameter;
-protected parameter Real world.labelStart(quantity = \"Length\", unit = \"m\") = 1.05 * world.axisLength;
-protected parameter Real world.gravityHeadLength(quantity = \"Length\", unit = \"m\") = min(world.gravityArrowLength, 4.0 * world.gravityArrowDiameter);
-protected parameter Real world.gravityHeadWidth(quantity = \"Length\", unit = \"m\") = 3.0 * world.gravityArrowDiameter;
-protected parameter Real world.gravityLineLength(quantity = \"Length\", unit = \"m\") = max(0.0, world.gravityArrowLength - world.gravityHeadLength);
-protected parameter Integer world.ndim_pointGravity = if world.enableAnimation and world.animateGravity and world.gravityType == Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity then 1 else 0;
-equation
-mass.sphereColor = {0, 128, 255};
-mass.cylinderColor = {mass.sphereColor[1], mass.sphereColor[2], mass.sphereColor[3]};
-mass.r_0[1] = mass.frame_a.r_0[1];
-mass.r_0[2] = mass.frame_a.r_0[2];
-mass.r_0[3] = mass.frame_a.r_0[3];
-if true then
-mass.Q[1] = 0.0;
-mass.Q[2] = 0.0;
-mass.Q[3] = 0.0;
-mass.Q[4] = 1.0;
-mass.phi[1] = 0.0;
-mass.phi[2] = 0.0;
-mass.phi[3] = 0.0;
-mass.phi_d[1] = 0.0;
-mass.phi_d[2] = 0.0;
-mass.phi_d[3] = 0.0;
-mass.phi_dd[1] = 0.0;
-mass.phi_dd[2] = 0.0;
-mass.phi_dd[3] = 0.0;
-elseif mass.useQuaternions then
-mass.frame_a.R = Modelica.Mechanics.MultiBody.Frames.from_Q({mass.Q[1], mass.Q[2], mass.Q[3], mass.Q[4]}, Modelica.Mechanics.MultiBody.Frames.Quaternions.angularVelocity2({mass.Q[1], mass.Q[2], mass.Q[3], mass.Q[4]}, {der(mass.Q[1]), der(mass.Q[2]), der(mass.Q[3]), der(mass.Q[4])}));
-{0.0} = Modelica.Mechanics.MultiBody.Frames.Quaternions.orientationConstraint({mass.Q[1], mass.Q[2], mass.Q[3], mass.Q[4]});
-mass.phi[1] = 0.0;
-mass.phi[2] = 0.0;
-mass.phi[3] = 0.0;
-mass.phi_d[1] = 0.0;
-mass.phi_d[2] = 0.0;
-mass.phi_d[3] = 0.0;
-mass.phi_dd[1] = 0.0;
-mass.phi_dd[2] = 0.0;
-mass.phi_dd[3] = 0.0;
-else
-mass.phi_d[1] = der(mass.phi[1]);
-mass.phi_d[2] = der(mass.phi[2]);
-mass.phi_d[3] = der(mass.phi[3]);
-mass.phi_dd[1] = der(mass.phi_d[1]);
-mass.phi_dd[2] = der(mass.phi_d[2]);
-mass.phi_dd[3] = der(mass.phi_d[3]);
-mass.frame_a.R = Modelica.Mechanics.MultiBody.Frames.axesRotations({mass.sequence_angleStates[1], mass.sequence_angleStates[2], mass.sequence_angleStates[3]}, {mass.phi[1], mass.phi[2], mass.phi[3]}, {mass.phi_d[1], mass.phi_d[2], mass.phi_d[3]});
-mass.Q[1] = 0.0;
-mass.Q[2] = 0.0;
-mass.Q[3] = 0.0;
-mass.Q[4] = 1.0;
-end if;
-mass.g_0 = Modelica.Mechanics.MultiBody.World$world.gravityAcceleration({mass.frame_a.r_0[1], mass.frame_a.r_0[2], mass.frame_a.r_0[3]} + Modelica.Mechanics.MultiBody.Frames.resolve1(mass.frame_a.R, {mass.r_CM[1], mass.r_CM[2], mass.r_CM[3]}), Modelica.Mechanics.MultiBody.Types.GravityTypes.UniformGravity, {0.0, -9.81, 0.0}, 398600000000000.0);
-mass.v_0[1] = der(mass.frame_a.r_0[1]);
-mass.v_0[2] = der(mass.frame_a.r_0[2]);
-mass.v_0[3] = der(mass.frame_a.r_0[3]);
-mass.a_0[1] = der(mass.v_0[1]);
-mass.a_0[2] = der(mass.v_0[2]);
-mass.a_0[3] = der(mass.v_0[3]);
-mass.w_a = Modelica.Mechanics.MultiBody.Frames.angularVelocity2(mass.frame_a.R);
-mass.z_a[1] = der(mass.w_a[1]);
-mass.z_a[2] = der(mass.w_a[2]);
-mass.z_a[3] = der(mass.w_a[3]);
-mass.frame_a.f = (Modelica.Mechanics.MultiBody.Frames.resolve2(mass.frame_a.R, {mass.a_0[1] - mass.g_0[1], mass.a_0[2] - mass.g_0[2], mass.a_0[3] - mass.g_0[3]}) + {mass.z_a[2] * mass.r_CM[3] - mass.z_a[3] * mass.r_CM[2], mass.z_a[3] * mass.r_CM[1] - mass.z_a[1] * mass.r_CM[3], mass.z_a[1] * mass.r_CM[2] - mass.z_a[2] * mass.r_CM[1]} + {mass.w_a[2] * (mass.w_a[1] * mass.r_CM[2] - mass.w_a[2] * mass.r_CM[1]) - mass.w_a[3] * (mass.w_a[3] * mass.r_CM[1] - mass.w_a[1] * mass.r_CM[3]), mass.w_a[3] * (mass.w_a[2] * mass.r_CM[3] - mass.w_a[3] * mass.r_CM[2]) - mass.w_a[1] * (mass.w_a[1] * mass.r_CM[2] - mass.w_a[2] * mass.r_CM[1]), mass.w_a[1] * (mass.w_a[3] * mass.r_CM[1] - mass.w_a[1] * mass.r_CM[3]) - mass.w_a[2] * (mass.w_a[2] * mass.r_CM[3] - mass.w_a[3] * mass.r_CM[2])}) * mass.m;
-mass.frame_a.t[1] = mass.I[1,1] * mass.z_a[1] + mass.I[1,2] * mass.z_a[2] + mass.I[1,3] * mass.z_a[3] + mass.w_a[2] * (mass.I[3,1] * mass.w_a[1] + mass.I[3,2] * mass.w_a[2] + mass.I[3,3] * mass.w_a[3]) - mass.w_a[3] * (mass.I[2,1] * mass.w_a[1] + mass.I[2,2] * mass.w_a[2] + mass.I[2,3] * mass.w_a[3]) + mass.r_CM[2] * mass.frame_a.f[3] - mass.r_CM[3] * mass.frame_a.f[2];
-mass.frame_a.t[2] = mass.I[2,1] * mass.z_a[1] + mass.I[2,2] * mass.z_a[2] + mass.I[2,3] * mass.z_a[3] + mass.w_a[3] * (mass.I[1,1] * mass.w_a[1] + mass.I[1,2] * mass.w_a[2] + mass.I[1,3] * mass.w_a[3]) - mass.w_a[1] * (mass.I[3,1] * mass.w_a[1] + mass.I[3,2] * mass.w_a[2] + mass.I[3,3] * mass.w_a[3]) + mass.r_CM[3] * mass.frame_a.f[1] - mass.r_CM[1] * mass.frame_a.f[3];
-mass.frame_a.t[3] = mass.I[3,1] * mass.z_a[1] + mass.I[3,2] * mass.z_a[2] + mass.I[3,3] * mass.z_a[3] + mass.w_a[1] * (mass.I[2,1] * mass.w_a[1] + mass.I[2,2] * mass.w_a[2] + mass.I[2,3] * mass.w_a[3]) - mass.w_a[2] * (mass.I[1,1] * mass.w_a[1] + mass.I[1,2] * mass.w_a[2] + mass.I[1,3] * mass.w_a[3]) + mass.r_CM[1] * mass.frame_a.f[2] - mass.r_CM[2] * mass.frame_a.f[1];
-world.axisColor_x = {0, 0, 0};
-world.axisColor_y = {world.axisColor_x[1], world.axisColor_x[2], world.axisColor_x[3]};
-world.axisColor_z = {world.axisColor_x[1], world.axisColor_x[2], world.axisColor_x[3]};
-world.gravityArrowColor = {0, 230, 0};
-world.gravitySphereColor = {0, 230, 0};
-assert(Modelica.Math.Vectors.length({world.n[1], world.n[2], world.n[3]}) > 1e-10, \"Parameter n of World object is wrong (length(n) > 0 required)\");
-world.frame_b.r_0[1] = 0.0;
-world.frame_b.r_0[2] = 0.0;
-world.frame_b.r_0[3] = 0.0;
-world.frame_b.R.T[1,1] = 1.0;
-world.frame_b.R.T[1,2] = 0.0;
-world.frame_b.R.T[1,3] = 0.0;
-world.frame_b.R.T[2,1] = 0.0;
-world.frame_b.R.T[2,2] = 1.0;
-world.frame_b.R.T[2,3] = 0.0;
-world.frame_b.R.T[3,1] = 0.0;
-world.frame_b.R.T[3,2] = 0.0;
-world.frame_b.R.T[3,3] = 1.0;
-world.frame_b.R.w[1] = 0.0;
-world.frame_b.R.w[2] = 0.0;
-world.frame_b.R.w[3] = 0.0;
-world.frame_b.t[1] + (-subModel1.frame_a.t[1]) = 0.0;
-world.frame_b.t[2] + (-subModel1.frame_a.t[2]) = 0.0;
-world.frame_b.t[3] + (-subModel1.frame_a.t[3]) = 0.0;
-world.frame_b.f[1] + (-subModel1.frame_a.f[1]) = 0.0;
-world.frame_b.f[2] + (-subModel1.frame_a.f[2]) = 0.0;
-world.frame_b.f[3] + (-subModel1.frame_a.f[3]) = 0.0;
-subModel1.frame_a.t[1] + mass.frame_a.t[1] = 0.0;
-subModel1.frame_a.t[2] + mass.frame_a.t[2] = 0.0;
-subModel1.frame_a.t[3] + mass.frame_a.t[3] = 0.0;
-subModel1.frame_a.f[1] + mass.frame_a.f[1] = 0.0;
-subModel1.frame_a.f[2] + mass.frame_a.f[2] = 0.0;
-subModel1.frame_a.f[3] + mass.frame_a.f[3] = 0.0;
-mass.frame_a.R.T[1,1] = subModel1.frame_a.R.T[1,1];
-mass.frame_a.R.T[1,2] = subModel1.frame_a.R.T[1,2];
-mass.frame_a.R.T[1,3] = subModel1.frame_a.R.T[1,3];
-mass.frame_a.R.T[2,1] = subModel1.frame_a.R.T[2,1];
-mass.frame_a.R.T[2,2] = subModel1.frame_a.R.T[2,2];
-mass.frame_a.R.T[2,3] = subModel1.frame_a.R.T[2,3];
-mass.frame_a.R.T[3,1] = subModel1.frame_a.R.T[3,1];
-mass.frame_a.R.T[3,2] = subModel1.frame_a.R.T[3,2];
-mass.frame_a.R.T[3,3] = subModel1.frame_a.R.T[3,3];
-mass.frame_a.R.w[1] = subModel1.frame_a.R.w[1];
-mass.frame_a.R.w[2] = subModel1.frame_a.R.w[2];
-mass.frame_a.R.w[3] = subModel1.frame_a.R.w[3];
-mass.frame_a.r_0[1] = subModel1.frame_a.r_0[1];
-mass.frame_a.r_0[2] = subModel1.frame_a.r_0[2];
-mass.frame_a.r_0[3] = subModel1.frame_a.r_0[3];
-subModel1.frame_a.r_0[1] = world.frame_b.r_0[1];
-subModel1.frame_a.r_0[2] = world.frame_b.r_0[2];
-subModel1.frame_a.r_0[3] = world.frame_b.r_0[3];
-subModel1.frame_a.R.T[1,1] = world.frame_b.R.T[1,1];
-subModel1.frame_a.R.T[1,2] = world.frame_b.R.T[1,2];
-subModel1.frame_a.R.T[1,3] = world.frame_b.R.T[1,3];
-subModel1.frame_a.R.T[2,1] = world.frame_b.R.T[2,1];
-subModel1.frame_a.R.T[2,2] = world.frame_b.R.T[2,2];
-subModel1.frame_a.R.T[2,3] = world.frame_b.R.T[2,3];
-subModel1.frame_a.R.T[3,1] = world.frame_b.R.T[3,1];
-subModel1.frame_a.R.T[3,2] = world.frame_b.R.T[3,2];
-subModel1.frame_a.R.T[3,3] = world.frame_b.R.T[3,3];
-subModel1.frame_a.R.w[1] = world.frame_b.R.w[1];
-subModel1.frame_a.R.w[2] = world.frame_b.R.w[2];
-subModel1.frame_a.R.w[3] = world.frame_b.R.w[3];
-end Test;
+"[flattening/modelica/connectors/CGraphBug.mo:8:5-8:60:writable] Error: Class Modelica.Mechanics.MultiBody.Interfaces.Frame_a not found in scope Test.SubModel1.
+Error: Error occurred while flattening model Test
 "
-""

Equation mismatch: omc-diff says:
Failed 't' 'f'
Line 1: Text differs:
expected: true
got:      false

== 1 out of 1 tests failed [flattening/modelica/connectors/CGraphBug.mos_temp7504, time: 0]