This information is part of the Modelica Standard Library maintained by the Modelica Association.

Frames

Functions to transform rotational frame quantities

Package Contents

Internal
Internal definitions that may be removed or changed (do not use)
Quaternions
Functions to transform rotational frame quantities based on quaternions (also called Euler parameters)
TransformationMatrices
Functions for transformation matrices
absoluteRotation
Return absolute orientation object from another absolute and a relative orientation object
angularVelocity1
Return angular velocity resolved in frame 1 from orientation object
angularVelocity2
Return angular velocity resolved in frame 2 from orientation object
axesRotations
Return fixed rotation object to rotate in sequence around fixed angles along 3 axes
axesRotationsAngles
Return the 3 angles to rotate in sequence around 3 axes to construct the given orientation object
axis
Return unit vector for x-, y-, or z-axis
axisRotation
Return rotation object to rotate around an angle along one frame axis
from_nxy
Return fixed orientation object from n_x and n_y vectors
from_nxz
Return fixed orientation object from n_x and n_z vectors
from_Q
Return orientation object R from quaternion orientation object Q
from_T
Return orientation object R from transformation matrix T
from_T_inv
Return orientation object R from inverse transformation matrix T_inv
from_T2
Return orientation object R from transformation matrix T and its derivative der(T)
inverseRotation
Return inverse orientation object
nullRotation
Return orientation object that does not rotate a frame
Orientation
Orientation object defining rotation from a frame 1 into a frame 2
orientationConstraint
Return residues of orientation constraints (shall be zero)
planarRotation
Return orientation object of a planar rotation
planarRotationAngle
Return angle of a planar rotation, given the rotation axis and the representations of a vector in frame 1 and frame 2
relativeRotation
Return relative orientation object
resolve1
Transform vector from frame 2 to frame 1
resolve2
Transform vector from frame 1 to frame 2
resolveDyade1
Transform second order tensor from frame 2 to frame 1
resolveDyade2
Transform second order tensor from frame 1 to frame 2
resolveRelative
Transform vector from frame 1 to frame 2 using absolute orientation objects of frame 1 and of frame 2
smallRotation
Return rotation angles valid for a small rotation and optionally residues that should be zero
to_exy
Map rotation object into e_x and e_y vectors of frame 2, resolved in frame 1
to_Q
Return quaternion orientation object Q from orientation object R
to_T
Return transformation matrix T from orientation object R
to_T_inv
Return inverse transformation matrix T_inv from orientation object R
to_vector
Map rotation object into vector
Information