R = Frames.planarRotation(e, angle, der_angle);
The function call Frames.planarRotation(e, angle, der_angle)
returns
orientation object R that describes the orientation to rotate in the plane along unit
axis e from frame 1 into frame 2 with angle angle and derivative of angle der_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.
planarRotationAngle, TransformationMatrices.planarRotation, Quaternions.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"; input SI.AngularVelocity der_angle "= der(angle)"; output Orientation R "Orientation object to rotate frame 1 into frame 2"; end planarRotation;