Changeset 478 for Modelica/branches/maintenance/2.2.1/Modelica/Mechanics/MultiBody/Frames.mo

Timestamp:

01/26/2007 02:42:42 PM (2 years ago)

Author:

HansOlsson

Message:

Use a better residual for large residuals

Files:

• Modelica/branches/maintenance/2.2.1/Modelica/Mechanics/MultiBody/Frames.mo (modified) (1 diff)

Modelica/branches/maintenance/2.2.1/Modelica/Mechanics/MultiBody/Frames.mo

@@ -198 +198 @@
         "The rotation angles around x-, y-, and z-axis of frame 1 to rotate frame 1 into frame 2 for a small rotation (should be zero)";
     algorithm 
-      residue := {cross(R1.T[1, :], R1.T[2, :])*R2.T[2, :],-cross(R1.T[1, :],
-        R1.T[2, :])*R2.T[1, :],R1.T[2, :]*R2.T[1, :]};
+      residue := {
+         Modelica.Math.atan2(cross(R1.T[1, :], R1.T[2, :])*R2.T[2, :],R1.T[1,:]*R2.T[1,:]),
+         Modelica.Math.atan2(-cross(R1.T[1, :],R1.T[2, :])*R2.T[1, :],R1.T[2,:]*R2.T[2,:]),
+         Modelica.Math.atan2(R1.T[2, :]*R2.T[1, :],R1.T[3,:]*R2.T[3,:])};
     end equalityConstraint;