.Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.axisRotation

Information

Syntax

T = TransformationMatrices.axisRotation(axis, angle);

Description

This function returns transformation matrix T that describes the orientation to rotate along unit axis axis from frame 1 into frame 2 with angle angle. For example, TransformationMatrices.axisRotation(2, phi) returns the same orientation object as with the call TransformationMatrices.planarRotation({0,1,0}, phi)

See also

planarRotation, Frames.axisRotation.

Interface

function axisRotation
  extends Modelica.Icons.Function;
  input Integer axis(min = 1, max = 3) "Rotate around 'axis' of frame 1";
  input Modelica.SIunits.Angle angle "Rotation angle to rotate frame 1 into frame 2 along 'axis' of frame 1";
  output TransformationMatrices.Orientation T "Orientation object to rotate frame 1 into frame 2";
end axisRotation;