phi = TransformationMatrices.smallRotation(T, withResidues);
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
.
Frames.smallRotation, Quaternions.smallRotation.
function smallRotation extends Modelica.Icons.Function; input TransformationMatrices.Orientation T "Orientation object to rotate frame 1 into frame 2"; input Boolean withResidues = false "= false/true, if 'angles'/'angles and residues' are returned in phi"; output SI.Angle phi[if withResidues then 6 else 3] "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"; end smallRotation;