.Spot.Base.Transforms.rotation_dq

Information

The function rotation_dq calculates the matrix R_dq that is the restriction of R_dqo from dqo to dq.

The matrix R_dqo rotates dqo variables around the o-axis in dqo-space with arbitrary angle theta.

It takes the form

                 [cos(theta), -sin(theta), 0]
  R_dqo(theta) = [sin(theta),  cos(theta), 0]
                 [  0,           0,        1]

  {0, 0, 1}

Coefficient matrices of the form (symmetrical systems)

      [x, 0, 0 ]
  X = [0, x, 0 ]
      [0, 0, xo]

The connection between R_dqo and R_abc is the following

  R_dqo = P0*R_abc*P0'.

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Interface

function rotation_dq
  extends Icons.Function;
  input SI.Angle theta "rotation angle";
  output Real[2, 2] R_dq "rotation matrix";
end rotation_dq;