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

Compute natural axis of rotation

Since R2022a


ax = naturalAxis(R) computes the natural axis of the provided rotation, R. The natural axis is the axis of rotation that corresponds to the natural angle of the rotation. See naturalAngle for more information.

The returned natural axis, ax, is a 3-by-1 unit vector. If the natural angle is zero, the natural axis is the zero vector.

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 axis of the rotation, returned as a 3-by-1 unit vector.



To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a