-
Notifications
You must be signed in to change notification settings - Fork 164
/
absoluteRotation.mo
37 lines (34 loc) · 1.67 KB
/
absoluteRotation.mo
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
within Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
function absoluteRotation
"Return absolute orientation object from another absolute and a relative orientation object"
extends Modelica.Icons.Function;
input TransformationMatrices.Orientation T1
"Orientation object to rotate frame 0 into frame 1";
input TransformationMatrices.Orientation T_rel
"Orientation object to rotate frame 1 into frame 2";
output TransformationMatrices.Orientation T2
"Orientation object to rotate frame 0 into frame 2";
algorithm
T2 := T_rel*T1;
annotation(Inline=true, Documentation(info="<html>
<h4>Syntax</h4>
<blockquote><pre>
T2 = TransformationMatrices.<strong>absoluteRotation</strong>(T1, T_rel);
</pre></blockquote>
<h4>Description</h4>
<p>
This function returns
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.Orientation\">transformation matrix</a> T2
that describes the orientation frame 0 to frame 2 from the
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.Orientation\">transformation matrix</a> T1
that describes the orientation to rotate from frame 0 to frame 1 and from the relative
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.Orientation\">transformation matrix</a> T2_rel
that describes the orientation to rotate from frame 1 to frame 2.
</p>
<h4>See also</h4>
<p>
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.absoluteRotation\">Frames.absoluteRotation</a>,
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.Quaternions.absoluteRotation\">Quaternions.absoluteRotation</a>.
</p>
</html>"));
end absoluteRotation;