WOLFRAM SYSTEM MODELER
smallRotationReturn rotation angles valid for a small rotation and optionally residues that should be zero |
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Wolfram Language
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SystemModel["Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.smallRotation"]
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
phi = TransformationMatrices.smallRotation(T, withResidues);
Description
This function returns rotation angles valid for a small rotation of x-y-z sequence (i.e. {1,2,3}).
Optionally, residues are returned as well if withResidues=true.
See also
Syntax
phi = smallRotation(T, withResidues)
Inputs (2)
| T |
Type: Orientation Description: Orientation object to rotate frame 1 into frame 2 |
|---|---|
| withResidues |
Default Value: false Type: Boolean Description: = false/true, if 'angles'/'angles and residues' are returned in phi |
Outputs (1)
| phi |
Type: Angle[if withResidues then 6 else 3] (rad) Description: The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation + optionally 3 residues that should be zero |
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