.Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.Orientation.equalityConstraint

Information

Syntax

residue = Orientation.equalityConstraint(T1, T2);

Description

This function returns the Real residue vector with 3 elements. This vector has zero elements if transformation matrices T1 and T2 are identical, i.e. they describe the same orientation. The residue vector is determined by computing the relative transformation matrix between T1 and T2 and using the outer-diagonal elements of this matrix to formulate the residue in such a way that only identical orientation objects lead to a zero residue vector.

Interface

encapsulated function equalityConstraint
  import Modelica;
  import Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
  extends Modelica.Icons.Function;
  input TransformationMatrices.Orientation T1 "Orientation object to rotate frame 0 into frame 1";
  input TransformationMatrices.Orientation T2 "Orientation object to rotate frame 0 into frame 2";
  output Real residue[3] "The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation (should be zero)";
end equalityConstraint;