simscape.multibody.RotationSequenceRotation Class

R2026b

Namespace: simscape.multibody
Superclasses: simscape.multibody.Rotation

Construct rotation by using rotation-sequence parameterization

Since R2022a

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Description

Use an object of the simscape.multibody.RotationSequenceRotation class to construct a 3-D rotation by using a rotation-sequence parameterization. Any 3-D rotation can be described by three successive elementary rotations. The elementary rotations correspond to the axes of a frame that can be either the base or follower frame. Rotations about the axes of the base frame are also known as extrinsic rotations, while rotations about the axes of the follower frame are also known as intrinsic rotations. Note that the base frame is fixed while the follower frame rotates after each elementary rotation.

The Axes property specifies which frame's axes the elementary rotations are performed about. The Sequence property specifies the sequence of the elementary rotations. The Angles property specifies the angles for the three elementary rotations. Note that consecutive axes are distinct.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

R = simscape.multibody.RotationSequenceRotation creates a rotation-sequence rotation with default values.

R = simscape.multibody.RotationSequenceRotation(axes,sequence,angles) creates a rotation-sequence rotation with the specified axes of rotation, rotation sequence, and rotation angles.

Properties

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Selection of rotation axes, specified as "Follower" or "Base". Use "Base" to set the axes of the base frame as rotation axes for elementary rotations, or use "Follower" to set the axes of the follower frame as rotation axes for elementary rotations.

Example: "Base"

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Sequence of three axes to rotate about, specified as a string. Use one of the following values to set the Sequence property:

  • "XYX"

  • "XYZ"

  • "XZX"

  • "XZY"

  • "YXY"

  • "YXZ"

  • "YZX"

  • "YZY"

  • "ZXY"

  • "ZXZ"

  • "ZYX"

  • "ZYZ"

Example: "XZY"

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Angles of elementary rotations, specified as a simscape.Value object that represents a 3-by-1 or 1-by-3 array in units of angle.

Example: simscape.Value([30 10 40],"deg")

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a

See Also