WOLFRAM SYSTEM MODELER

equalityConstraint

Return the constraint residues to express that two frames have the same orientation

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)