.Modelica.Mechanics.MultiBody.Frames.Quaternions.smallRotation

Information

Syntax

phi = Quaternions.smallRotation(Q);

Description

This function returns rotation angles valid for a small rotation of x-y-z sequence (i.e. {1,2,3}).

See also

Frames.smallRotation, TransformationMatrices.smallRotation.

Interface

function smallRotation
  extends Modelica.Icons.Function;
  input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2";
  output Modelica.SIunits.Angle phi[3] "The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small relative rotation";
end smallRotation;