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nullRotation.mo
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nullRotation.mo
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within Modelica.Mechanics.MultiBody.Frames.Quaternions;
function nullRotation
"Return quaternion orientation object that does not rotate a frame"
extends Modelica.Icons.Function;
output Quaternions.Orientation Q
"Quaternions orientation object to rotate frame 1 into frame 2";
algorithm
Q := {0,0,0,1};
annotation(Inline=true, Documentation(info="<html>
<h4>Syntax</h4>
<blockquote><pre>
Q = Quaternions.<strong>nullRotation</strong>();
</pre></blockquote>
<h4>Description</h4>
<p>
This function returns a
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.Quaternions.Orientation\">quaternions orientation</a> Q
describing the orientation object to rotate frame 1 into frame 2, if frame 1 and frame 2 are identical.
(= transformation matrix is identity matrix and angular velocity is zero).
</p>
<h4>See also</h4>
<p>
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.nullRotation\">Frames.nullRotation</a>,
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.nullRotation\">TransformationMatrices.nullRotation</a>.
</p>
</html>"));
end nullRotation;