Mambo Toolbox Functions - FindOrientation


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FindOrientation — Extraction of relative orientation of observers [maple]

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

Calling Sequence

FindOrientation(A1,A2)

Parameters

A1, A2: names of defined observers

Description

The function FindOrientation returns the rotation matrix between the reference triads of the observers labeled by A1 and A2.

Examples

>Restart():
>DeclareObservers(A,B):
>DeclarePoints(A,B):
>DeclareTriads(a,b):
>DefineObservers([A,A,a],[B,B,b]):
>DefineTriads(a,b,q,1,2,3):
>FindOrientation(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, DeclareObservers, DeclarePoints, DefineObservers, FindRotation

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