.Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.smallRotation

Information

Syntax

phi = TransformationMatrices.smallRotation(T, withResidues);

Description

This function returns rotation angles valid for a small rotation of x-y-z sequence (i.e. {1,2,3}). Optionally, residues are returned as well if withResidues=true.

See also

Frames.smallRotation, Quaternions.smallRotation.

Interface

function smallRotation
  extends Modelica.Icons.Function;
  input TransformationMatrices.Orientation T "Orientation object to rotate frame 1 into frame 2";
  input Boolean withResidues = false "= false/true, if 'angles'/'angles and residues' are returned in phi";
  output Modelica.SIunits.Angle phi[if withResidues then 6 else 3] "The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation + optionally 3 residues that should be zero";
end smallRotation;