WOLFRAM SYSTEM MODELER
This information is part of the Modelica Standard Library maintained by the Modelica Association.
residue = Orientation.equalityConstraint(R1, R2);
The function call
Orientation.equalityConstrain(R1,R2) returns the Real residue vector
with 3 elements. This vector has zero elements if orientation objects R1 and R2 are identical
(= describe the same orientation). The residue vector is determined by computing the relative
orientation object between R1 and R2 and using the outer-diagonal elements of this matrix to
formulate the residue in such a way that only identical orientation objects lead to a zero residue vector.
Description: 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)