WOLFRAM SYSTEM MODELER
equalityConstraintReturn the constraint residues to express that two frames have the same orientation |
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Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint"]
Out[1]:=
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
residue = Orientation.equalityConstraint(R1, R2);
Description
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.
Syntax
residue = equalityConstraint(R1, R2)
Inputs (2)
| R1 |
Type: Orientation Description: Orientation object to rotate frame 0 into frame 1 |
|---|---|
| R2 |
Type: Orientation Description: Orientation object to rotate frame 0 into frame 2 |
Outputs (1)
| residue |
Type: Real[3] 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) |
|---|