This information is part of the Modelica Standard Library maintained by the Modelica Association.

Syntax

R = Frames.axisRotation(axis, angle, der_angle);

Description

The function call Frames.axisRotation(axis, angle, der_angle) returns orientation object R that describes the orientation to rotate along unit axis axis from frame 1 into frame 2 with angle angle and derivative of angle der_angle. For example, Frames.axisRotation(2, phi, der_phi) returns the same orientation object as with the call Frames.planarRotation({0,1,0}, phi, der_phi)

See also

planarRotation, TransformationMatrices.axisRotation.

R = axisRotation(axis, angle, der_angle)

axis	Type: Integer Description: Rotate around 'axis' of frame 1
angle	Type: Angle (rad) Description: Rotation angle to rotate frame 1 into frame 2 along 'axis' of frame 1
der_angle	Type: AngularVelocity (rad/s) Description: = der(angle)

R	Type: Orientation Description: Orientation object to rotate frame 1 into frame 2