.Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint

Information

Syntax

residue = Orientation.equalityConstraint(R1, R2);

Description

The function call Orientation.equalityConstrain(R1,R2) returns the Real residue vector with 3 elements. This vector has zero elements if orientation objects R1 and R2 are identical (= describe the same orientation). The residue vector is determined by computing the relative orientation object between R1 and R2 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.

Interface

encapsulated function equalityConstraint
  import Modelica;
  import Modelica.Mechanics.MultiBody.Frames;
  extends Modelica.Icons.Function;
  input Frames.Orientation R1 "Orientation object to rotate frame 0 into frame 1";
  input Frames.Orientation R2 "Orientation object to rotate frame 0 into frame 2";
  output Real residue[3] "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)";
end equalityConstraint;