functionequalityConstraint
Return the constraint residues to express that two frames have the same orientation
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
residue = Orientation.equalityConstraint(R1, R2);
Description
The function call Orientation.equalityConstrain(R1,R2) returns the Real residue vector
with 3 elements. This vector has zero elements if orientation objects R1 and R2 are identical
(= describe the same orientation). The residue vector is determined by computing the relative
orientation object between R1 and R2 and using the outer-diagonal elements of this matrix to
formulate the residue in such a way that only identical orientation objects lead to a zero residue vector.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Frames.Orientation | R1 | Orientation object to rotate frame 0 into frame 1 | |
| Frames.Orientation | R2 | Orientation object to rotate frame 0 into frame 2 |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | residue | The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation (should be zero) |