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

Syntax

R = Frames.planarRotation(e, angle, der_angle);

Description

The function call Frames.planarRotation(e, angle, der_angle) returns orientation object R that describes the orientation to rotate in the plane along unit axis e from frame 1 into frame 2 with angle angle and derivative of angle der_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

planarRotationAngle, TransformationMatrices.planarRotation, Quaternions.planarRotation.

R = planarRotation(e, angle, der_angle)

e	Type: Real[3] Description: Normalized axis of rotation (must have length=1)
angle	Type: Angle (rad) Description: Rotation angle to rotate frame 1 into frame 2 along axis e
der_angle	Type: AngularVelocity (rad/s) Description: = der(angle)

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