.Modelica.Mechanics.MultiBody.Frames.Quaternions.planarRotation

Information

Syntax

Q = Quaternions.planarRotation(e, angle);

Description

This function returns quaternions orientation Q that describes the orientation to rotate in the plane along unit axis e from frame 1 into frame 2 with angle 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

Frames.planarRotation, TransformationMatrices.planarRotation.

Interface

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";
  output Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2 along axis e";
end planarRotation;