R = Frames.axisRotation(axis, angle, der_angle);
The function call Frames.axisRotation(axis, angle, der_angle)
returns
orientation object R
that describes the orientation to rotate along unit axis axis
from frame 1 into frame 2 with angle angle and derivative of angle der_angle.
For example, Frames.axisRotation(2, phi, der_phi) returns the same orientation object as with the call
Frames.planarRotation({0,1,0}, phi, der_phi)
planarRotation, TransformationMatrices.axisRotation.
function axisRotation extends Modelica.Icons.Function; input Integer axis(min = 1, max = 3) "Rotate around 'axis' of frame 1"; input SI.Angle angle "Rotation angle to rotate frame 1 into frame 2 along 'axis' of frame 1"; input SI.AngularVelocity der_angle "= der(angle)"; output Orientation R "Orientation object to rotate frame 1 into frame 2"; end axisRotation;