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.TransformationMatrices.Orientation.equalityConstraint"]
Out[1]:=
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
residue = Orientation.equalityConstraint(T1, T2);
Description
This function returns the Real residue vector with 3 elements. This vector has zero elements if transformation matrices T1 and T2 are identical, i.e. they describe the same orientation. The residue vector is determined by computing the relative transformation matrix between T1 and T2 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(T1, T2)
Inputs (2)
| T1 |
Type: Orientation Description: Orientation object to rotate frame 0 into frame 1 |
|---|---|
| T2 |
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) |
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