matrix

Class: simscape.multibody.Rotation
Namespace: simscape.multibody

Compute rotation matrix

Since R2022a

Syntax

``M = matrix(R)``

Description

````M = matrix(R)` computes the rotation matrix of the rotation `R`.```

example

Input Arguments

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Rotation, specified as an object of a subclass of the `simscape.multibody.Rotation` class.

Output Arguments

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Rotation matrix, returned as a 3-by-3 matrix. The rotation matrix is orthogonal and has determinate of 1.

Attributes

 `Access` `public`

To learn about attributes of methods, see Method Attributes.

Examples

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Construct a 3-D Rotation

You can construct a rotation by using a subclass of the `simscape.multibody.Rotation` class.

• Use the `simscape.multibody.RotationSequenceRotation` class to construct a 3-D rotation. This 3-D rotation composes of three subsequent rotations about the z, y, and x axes of the follower frame, respectively. The corresponding angles are `60` `deg`, `5` `deg`, and `-5` `deg`.

```sequence = simscape.multibody.AxisSequence.ZYX; axes = simscape.multibody.FrameSide.Follower; angles = simscape.Value([60 5 -5],"deg"); R = simscape.multibody.RotationSequenceRotation(axes,sequence,angles);```

Rotation Matrix

• To compute the rotation matrix for the constructed 3-D rotation, you can use the `matrix` method.

`A = matrix(R)`
```A = 3×3 0.4981 -0.8665 -0.0321 0.8627 0.4915 0.1188 -0.0872 -0.0868 0.9924 ```

The column vectors A(:,1), A(:,2), and A(:,3) respectively express the x, y, and z axes of the follower frame in base frame coordinates.

Version History

Introduced in R2022a