.Modelica.Mechanics.MultiBody.Frames.planarRotation

Information

Syntax

R = Frames.planarRotation(e, angle, der_angle);

Description

The function call Frames.planarRotation(e, angle, der_angle) returns orientation object R that describes the orientation to rotate in the plane along unit axis e from frame 1 into frame 2 with angle angle and derivative of angle der_angle. Note, "e" must be a unit vector. However, this is not checked in this function and the function will return a wrong result, if length(e) is not one.

See also

planarRotationAngle, TransformationMatrices.planarRotation, Quaternions.planarRotation.

Interface

function planarRotation
  import Modelica.Math;
  extends Modelica.Icons.Function;
  input Real e[3](each final unit = "1") "Normalized axis of rotation (must have length=1)";
  input Modelica.SIunits.Angle angle "Rotation angle to rotate frame 1 into frame 2 along axis e";
  input Modelica.SIunits.AngularVelocity der_angle "= der(angle)";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end planarRotation;