.Modelica.Mechanics.MultiBody.Frames.axisRotation

Information

Syntax

R = Frames.axisRotation(axis, angle, der_angle);

Description

The function call Frames.axisRotation(axis, angle, der_angle) returns orientation object R that describes the orientation to rotate along unit axis axis from frame 1 into frame 2 with angle angle and derivative of angle der_angle. For example, Frames.axisRotation(2, phi, der_phi) returns the same orientation object as with the call Frames.planarRotation({0,1,0}, phi, der_phi)

See also

planarRotation, TransformationMatrices.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";
  input Modelica.SIunits.AngularVelocity der_angle "= der(angle)";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end axisRotation;