.Modelica.Mechanics.MultiBody.Frames.axesRotations

Information

Syntax

R = Frames.axesRotations(sequence, angles, der_angles);

Description

This function returns orientation object R that describes the orientation defined by three elementary rotations in a given sequence, each rotated by angles. The angular velocity vector R.w is calculated from the angle derivatives der_angles.

See also

TransformationMatrices.axesRotations.

Interface

function axesRotations
  import TM = Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
  extends Modelica.Icons.Function;
  input Integer sequence[3](min = {1, 1, 1}, max = {3, 3, 3}) = {1, 2, 3} "Sequence of rotations from frame 1 to frame 2 along axis sequence[i]";
  input SI.Angle angles[3] "Rotation angles around the axes defined in 'sequence'";
  input SI.AngularVelocity der_angles[3] "= der(angles)";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end axesRotations;