phi = Quaternions.smallRotation(Q);
This function returns rotation angles valid for a small rotation of x-y-z sequence (i.e. {1,2,3}).
Frames.smallRotation, TransformationMatrices.smallRotation.
function smallRotation extends Modelica.Icons.Function; input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2"; output SI.Angle phi[3] "The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small relative rotation"; end smallRotation;