VirtualRotation
3D

• VirtualRotation[bnum] returns the virtual rotation vector of angle of body bnum. The angle of rotation, in radians, of the body is equal to the magnitude of the resulting vector, and the axis of rotation is parallel to the vector.
• VirtualRotation[{eo, ei, ej, ek}]returns the virtual rotation vector associated with the given Euler parameters.
• VirtualRotation[matrix] returns the virtual rotation vector associated with the given rotation matrix.
• VirtualRotation[{, vector}] returns the virtual rotation vector associated with given angle-axis.

• VirtualRotation[vector] returns the given vector potentially converted to the global coordinate system.
• When VirtualRotation is used to transform a virtual rotation or an angle-axis, vector may be a simple vector or a Mech vector object with head Vector, Line, or Plane.
• Assumptions->Normalized can be given to cause VirtualRotation to assume that vector in an angle-axis pair is a unit vector. The default setting is Assumptions->None.
• See also: Alpha, EulerParameters, Omega, Rotation, RotationMatrix.

Further Examples

Load the Modeler3D package.

In[1]:=

Here is the virtual rotation vector for body 2, expressed in terms of Euler parameters.

In[2]:=

Out[2]=

Here is the virtual rotation vector representing a rotation of /4 about the {1, 1, 0} axis.

In[3]:=

Out[3]=