.Modelica.Mechanics.MultiBody.Frames .Modelica.Mechanics.MultiBody.FramesPackage Frames contains type definitions and functions to transform rotational frame quantities. The basic idea is to hide the actual definition of an orientation in this package by providing essentially type Orientation together with functions operating on instances of this type.
In the table below an example is given for every function definition. The used variables have the following declaration:
Frames.Orientation R, R1, R2, R_rel, R_inv; Real[3,3] T, T_inv; Real[3] v1, v2, w1, w2, n_x, n_y, n_z, e, e_x, res_ori, phi; Real[6] res_equal; Real L, angle;
| Function/type | Description |
|---|---|
| Orientation R; | New type defining an orientation object that describes the rotation of frame 1 into frame 2. |
| res_ori = orientationConstraint(R); | Return the constraints between the variables of an orientation
object (shall be zero). |
| w1 = angularVelocity1(R); | Return angular velocity resolved in frame 1 from orientation object R. |
| w2 = angularVelocity2(R); | Return angular velocity resolved in frame 2 from orientation object R. |
| v1 = resolve1(R,v2); | Transform vector v2 from frame 2 to frame 1. |
| v2 = resolve2(R,v1); | Transform vector v1 from frame 1 to frame 2. |
| v2 = resolveRelative(v1,R1,R2); | Transform vector v1 from frame 1 to frame 2 using absolute orientation objects R1 of frame 1 and R2 of frame 2. |
| D1 = resolveDyade1(R,D2); | Transform second order tensor D2 from frame 2 to frame 1. |
| D2 = resolveDyade2(R,D1); | Transform second order tensor D1 from frame 1 to frame 2. |
| R = nullRotation() | Return orientation object R that does not rotate a frame. |
| R_inv = inverseRotation(R); | Return inverse orientation object. |
| R_rel = relativeRotation(R1,R2); | Return relative orientation object from two absolute orientation objects. |
| R2 = absoluteRotation(R1,R_rel); | Return absolute orientation object from another absolute and a relative orientation object. |
| R = planarRotation(e, angle, der_angle); | Return orientation object of a planar rotation. |
| angle = planarRotationAngle(e, v1, v2); | Return angle of a planar rotation, given the rotation
axis and the representations of a vector in frame 1 and frame 2. |
| R = axisRotation(axis, angle, der_angle); | Return orientation object R to rotate around angle along axis of frame 1. |
| R = axesRotations(sequence, angles, der_angles); | Return rotation object to rotate in sequence around 3 axes.
Example: R = axesRotations({1,2,3},{pi/2,pi/4,-pi}, zeros(3)); |
| angles = axesRotationsAngles(R, sequence); | Return the 3 angles to rotate in sequence around 3 axes
to construct the given orientation object. |
| phi = smallRotation(R); | Return rotation angles phi valid for a small rotation R. |
| R = from_nxy(n_x, n_y); | Return orientation object from n_x and n_y vectors. |
| R = from_nxz(n_x, n_z); | Return orientation object from n_x and n_z vectors. |
| R = from_T(T,w); | Return orientation object R from transformation matrix T and its angular velocity w. |
| R = from_T2(T,der(T)); | Return orientation object R from transformation matrix T and its derivative der(T). |
| R = from_T_inv(T_inv,w); | Return orientation object R from inverse transformation matrix T_inv and its angular velocity w. |
| R = from_Q(Q,w); | Return orientation object R from quaternion orientation object Q and its angular velocity w. |
| T = to_T(R); | Return transformation matrix T from orientation object R. |
| T_inv = to_T_inv(R); | Return inverse transformation matrix T_inv from orientation object R. |
| Q = to_Q(R); | Return quaternion orientation object Q from orientation object R. |
| exy = to_exy(R); | Return [e_x, e_y] matrix of an orientation object R, with e_x and e_y vectors of frame 2, resolved in frame 1. |
| L = length(n_x); | Return length L of a vector n_x. |
| e_x = normalize(n_x); | Return normalized vector e_x of n_x such that length of e_x is one. |
| e = axis(i); | Return unit vector e directed along axis i |
| Quaternions | Package with functions to transform rotational frame quantities based on quaternions (also called Euler parameters). |
| TransformationMatrices | Package with functions to transform rotational frame quantities based on transformation matrices. |
| Name | Description |
|---|---|
 Orientation |
Orientation object defining rotation from a frame 1 into a frame 2 |
 orientationConstraint |
Return residues of orientation constraints (shall be zero) |
| angularVelocity1 |
Return angular velocity resolved in frame 1 from orientation object |
| angularVelocity2 |
Return angular velocity resolved in frame 2 from orientation object |
| resolve1 |
Transform vector from frame 2 to frame 1 |
| resolve2 |
Transform vector from frame 1 to frame 2 |
| resolveRelative |
Transform vector from frame 1 to frame 2 using absolute orientation objects of frame 1 and of frame 2 |
| resolveDyade1 |
Transform second order tensor from frame 2 to frame 1 |
| resolveDyade2 |
Transform second order tensor from frame 1 to frame 2 |
| nullRotation |
Return orientation object that does not rotate a frame |
| inverseRotation |
Return inverse orientation object |
| relativeRotation |
Return relative orientation object |
| absoluteRotation |
Return absolute orientation object from another absolute and a relative orientation object |
| planarRotation |
Return orientation object of a planar rotation |
| planarRotationAngle |
Return angle of a planar rotation, given the rotation axis and the representations of a vector in frame 1 and frame 2 |
| axisRotation |
Return rotation object to rotate around an angle along one frame axis |
| axesRotations |
Return fixed rotation object to rotate in sequence around fixed angles along 3 axes |
| axesRotationsAngles |
Return the 3 angles to rotate in sequence around 3 axes to construct the given orientation object |
| smallRotation |
Return rotation angles valid for a small rotation and optionally residues that should be zero |
| from_nxy |
Return fixed orientation object from n_x and n_y vectors |
| from_nxz |
Return fixed orientation object from n_x and n_z vectors |
| from_T |
Return orientation object R from transformation matrix T |
| from_T2 |
Return orientation object R from transformation matrix T and its derivative der(T) |
| from_T_inv |
Return orientation object R from inverse transformation matrix T_inv |
| from_Q |
Return orientation object R from quaternion orientation object Q |
| to_T |
Return transformation matrix T from orientation object R |
| to_T_inv |
Return inverse transformation matrix T_inv from orientation object R |
| to_Q |
Return quaternion orientation object Q from orientation object R |
| to_vector |
Map rotation object into vector |
| to_exy |
Map rotation object into e_x and e_y vectors of frame 2, resolved in frame 1 |
| axis |
Return unit vector for x-, y-, or z-axis |
 Quaternions |
Functions to transform rotational frame quantities based on quaternions (also called Euler parameters) |
| TransformationMatrices |
Functions for transformation matrices |
 Internal |
Internal definitions that may be removed or changed (do not use) |