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Reference for maple version: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.
DefineTriads(a,b,rm)
DefineTriads([a1,b1,rm1], ..., [an,bn,rmn])
a,a1, ..., an: names of declared triads
b,b1, ..., bn: names of declared triads
rm,rm1, ..., rmn: rotation-matrix specifications
The function DefineTriads defines a direct relation between two declared triads by specifying the rotation matrix from the first triad to the second triad. A pair of indirectly related triads may not be defined.
The function DefineTriads results in permanent changes to the global variables GlobalTriadDeclarations and GlobalTriadDefinitions.
The syntax of a rotation-matrix specification corresponds to that of the argument to the MakeRotations procedure.
Restart(): DeclareTriads(a,b,c): DefineTriads([a,b,phi,1],[b,c,[q3,2],[PI/2,3]]): print(GlobalTriadDeclarations);
print(GlobalTriadDefinitions);
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