WOLFRAM SYSTEM MODELER
smallRotationReturn rotation angles valid for a small rotation and optionally residues that should be zero |
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Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.smallRotation"]
Out[1]:=
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
phi = Frames.smallRotation(R, 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
TransformationMatrices.smallRotation, Quaternions.smallRotation.
Syntax
phi = smallRotation(R, withResidues)
Inputs (2)
| R |
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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