%SUMMARY	gRODa: rigid rod in two dimensions - with gravity and angle port
%DESCRIPTION	See Section 10.2 of "Metamodelling"
%DESCRIPTION	Gravity term added at centre

%ALIAS $1	l_a	# length from end a to mass centre
%ALIAS $2	l_b	# length from end b to mass centre
%ALIAS $3	j_m	# inertia about mass centre
%ALIAS $4	m	# mass
%ALIAS $5	g	# gravity

%ALIAS in|Tip_a		xTip_a,angularTip_a,yTip_a 	
%ALIAS out|Tip_b	xTip_b,angularTip_b,yTip_b 	

%ALIAS in|Tip_a		xTip_a,angularTip_a,yTip_a 	
%ALIAS out|Tip_b	xTip_b,angularTip_b,yTip_b 	

%ALIAS x_a		xTip_a # Force/velocity at tip a in x direction
%ALIAS y_a		yTip_a # Force/velocity at tip a in y direction
%ALIAS alpha_a|a_a	angularTip_a # Torque/angular velocity at tip a

%ALIAS x_b		xTip_b # Force/velocity at tip b in x direction
%ALIAS y_b		yTip_b # Force/velocity at tip b in y direction
%ALIAS alpha_b|a_b	angularTip_b # Torque/angular velocity at tip b

%ALIAS angle|a		angle	# Angle port

%ALIAS INTF	General/INTF # The flow integration component.

%% Label file for system gRODa (gRODa_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/11/30 10:47:53  peterg
% %% Added extra a_a and a_b aliases
% %%
% %% Revision 1.2  1998/11/25 13:55:42  peterg
% %% Added missig attribute field m*g,internal
% %%
% %% Revision 1.1  1998/11/25 10:48:34  peterg
% %% Initial revision
% %%
% %% Revision 1.5  1998/07/27 12:27:27  peterg
% %% Added vector port aliases
% %%
% %% Revision 1.4  1998/07/27 10:51:20  peterg
% %% Aliased INTF as well.
% %%
% %% Revision 1.3  1998/07/27 10:49:10  peterg
% %% Major revision to include aliases etc
% %%
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,j_m
m_x	lin	flow,m
m_y	lin	flow,m

%Integrate angular velocity to get angle
th

%Modulated transformers
s1	lsin	flow,l_a
s2	lsin	flow,l_b
c1	lcos	flow,l_a
c2	lcos	flow,l_b

% Component type SS
	mg			SS		m*g,internal
	[angularTip_a]		SS		external,external
	[angularTip_b]		SS		external,external
	[xTip_a]		SS		external,external
	[xTip_b]		SS		external,external
	[yTip_a]		SS		external,external
	[yTip_b]		SS		external,external
	[angle]			SS		external,external