Mambo Toolbox Functions - FindRotation


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FindRotation — Extraction of relative orientation of triads [maple]

Reference: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.

Calling Sequence

FindRotation(a1,a2)

Parameters

a1, a2: names of defined triads

Description

The function FindRotation returns the rotation matrix between the triads labeled by a1 and a2.

Examples

>Restart():
>DeclareTriads(a,b):
>DefineTriads(a,b,q,1,2,3):
>FindRotation(a,b);

$[\begin{array}{c} \frac{13}{14} \cos (q) + \frac{1}{14} & \frac{1}{7} - \frac{1}{7} \cos (q) - \frac{3}{14} \sin (q) \sqrt{14} & \frac{3}{14} - \frac{3}{14} \cos (q) + \frac{1}{7} \sin (q) \sqrt{14} \\ \frac{1}{7} - \frac{1}{7} \cos (q) + \frac{3}{14} \sin (q) \sqrt{14} & \frac{5}{7} \cos (q) + \frac{2}{7} & \frac{3}{7} - \frac{3}{7} \cos (q) - \frac{1}{14} \sin (q) \sqrt{14} \\ \frac{3}{14} - \frac{3}{14} \cos (q) - \frac{1}{7} \sin (q) \sqrt{14} & \frac{3}{7} - \frac{3}{7} \cos (q) + \frac{1}{14} \sin (q) \sqrt{14} & \frac{5}{14} \cos (q) + \frac{9}{14} \end{array}]$

See Also

DeclareTriads, DefineTriads, FindOrientation

Toolbox functions

&**, &++, &--, &xx, &oo &>, &>=, &<, &<=, &==, &!= AngularMomentum AngularVelocity CoeffExtract DeclareObservers DeclarePoints DeclareStates DeclareTriads DefineNeighbors DefineObjects DefineObservers DefinePoints DefineTriads DiffTime Express FindCoordinates FindOrientation FindPosition FindRotation FindTranslation ForceDescription GeometryOutput LinearMomentum LinearVelocity MakeDescription MakeRotations MakeTranslations MomentumDescription MotionOutput NullVector Restart Simplify Undo VectorLength VelocityDescription

©2004-2017 Harry Dankowicz • Mechanical Science and Engineering • University of Illinois at Urbana-Champaign