WOLFRAM SYSTEM MODELER

smallRotation

Return rotation angles valid for a small rotation and optionally residues that should be zero

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