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Class: simscape.multibody.Rotation
Package: simscape.multibody

Compute natural angle of rotation


q = naturalAngle(R) computes the natural angle of the provided rotation, R. A 3-D rotation has a unique nonnegative angle of rotation in the range [0,pi] radians called the natural angle. Note that the value of this angle can be expressed in any angular unit.

The returned natural angle, q, has the same unit as the provided rotation. If the rotation does not have a unit, the natural angle is in degrees.

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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Natural angle of the rotation, returned as a simscape.Value object that represents a scalar. q has the same units as the input argument R. If R does not have a unit, q is in degrees.



To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a