Q = Quaternions.planarRotation(e, angle);
This function returns quaternions orientation Q that describes the orientation to rotate in the plane along unit axis e from frame 1 into frame 2 with angle angle. Note, "e" must be a unit vector. However, this is not checked in this function and the function will return a wrong result, if length(e) is not one.
Frames.planarRotation, TransformationMatrices.planarRotation.
function planarRotation import Modelica.Math; extends Modelica.Icons.Function; input Real e[3](each final unit = "1") "Normalized axis of rotation (must have length=1)"; input SI.Angle angle "Rotation angle to rotate frame 1 into frame 2 along axis e"; output Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2 along axis e"; end planarRotation;