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transformDirection

Class: simscape.multibody.Transformation
Package: simscape.multibody

Apply rotation to 3-D column vectors

Description

xv = transformDirection(T,v) transforms a set of 3-D column vectors that represent directions. The rotational part of the transformation changes the orientations for the directions. The translational part does not affect the 3-D column vectors because directions do not have offset.

v argument specifies the vectors of the directions, T argument specifies a desired transformation used to change the directions. xv argument returns the computed 3-D column vectors, and each column vector represents a transformed direction. The returned vectors, xv, have the same format as v.

If the T argument is the transformation from follower frame to base frame, and the ith column of the v argument is a direction resolved in follower frame, then the ith column of the xv argument is the same direction resolved in base frame.

Input Arguments

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Transformation, specified as a simscape.multibody.Transformation object.

Directions, specified as either 3-D column vectors or a simscape.Value object that represents 3-D column vectors with arbitrary units. Each vector represents a direction.

Output Arguments

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Transformed directions, returned as either 3-D column vectors or a simscape.Value object that represents 3-D column vectors with arbitrary units. Each vector represents a direction. This argument and the vectors specified for the v argument always have the same format.

Attributes

Accesspublic

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a