function

LieGroups.SO3.Euler.rotationMatrix

Elementary active rotation about a coordinate axis

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`axis`	`LieGroups.SO3.Euler.Axis`
input	`angle`	`Real`
output	`R`	`Real`	`[3, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function rotationMatrix "Elementary active rotation about a coordinate axis"
  input LieGroups.SO3.Euler.Axis axis;
  input Real angle;
  output Real R[3, 3];
protected
  Real c;
  Real s;
algorithm
  c := cos(angle);
  s := sin(angle);
  if axis == LieGroups.SO3.Euler.Axis.x then
    R := [1.0, 0.0, 0.0; 0.0, c, -s; 0.0, s, c];
  elseif axis == LieGroups.SO3.Euler.Axis.y then
    R := [c, 0.0, s; 0.0, 1.0, 0.0; -s, 0.0, c];
  else
    R := [c, -s, 0.0; s, c, 0.0; 0.0, 0.0, 1.0];
  end if;
end rotationMatrix;