functionplanarRotation
Return orientation object of a planar rotation
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
R = Frames.planarRotation(e, angle, der_angle);
Description
The function call Frames.planarRotation(e, angle, der_angle) returns
orientation object R that describes the orientation of a planar rotation about 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.
See also
planarRotationAngle, TransformationMatrices.planarRotation, Quaternions.planarRotation.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | e | Normalized axis of rotation (must have length=1) | |
| SI.Angle | angle | Rotation angle to rotate frame 1 into frame 2 along axis e | |
| SI.AngularVelocity | der_angle | = der(angle) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Orientation | R | Orientation object to rotate frame 1 into frame 2 |