WOLFRAM SYSTEM MODELER

axisRotation

Return rotation object to rotate around an angle along one frame axis

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.axisRotation"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

Syntax

R = Frames.axisRotation(axis, angle, der_angle);

Description

The function call Frames.axisRotation(axis, angle, der_angle) returns orientation object R that describes the orientation to rotate along unit axis axis from frame 1 into frame 2 with angle angle and derivative of angle der_angle. For example, Frames.axisRotation(2, phi, der_phi) returns the same orientation object as with the call Frames.planarRotation({0,1,0}, phi, der_phi)

See also

planarRotation, TransformationMatrices.axisRotation.

Syntax

R = axisRotation(axis, angle, der_angle)

Inputs (3)

axis

Type: Integer

Description: Rotate around 'axis' of frame 1
angle

Type: Angle (rad)

Description: Rotation angle to rotate frame 1 into frame 2 along 'axis' of frame 1
der_angle

Type: AngularVelocity (rad/s)

Description: = der(angle)

Outputs (1)

R

Type: Orientation

Description: Orientation object to rotate frame 1 into frame 2