naturalAngle

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

Compute natural angle of rotation

Since R2022a

Syntax

q = naturalAngle(R)

Description

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

R — Rotation

object of subclass of simscape.multibody.Rotation class

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

Output Arguments

q — Natural angle of rotation

simscape.Value object

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.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a