principalToReferenceTransformation

R2026b

Class: simscape.multibody.MassDistribution
Namespace: simscape.multibody

Compute 3-D rigid transformation between principal and reference frames

Since R2022a

Syntax

T = principalToReferenceTransformation(md)

Description

T = principalToReferenceTransformation(md) computes the 3-D rigid transformation that maps the coordinates from the principal frame (centered at the center of mass and aligned with the principal axes) to the implicit reference frame of the simscape.multibody.MassDistribution object, md.

Input Arguments

md — Mass distribution

simscape.multibody.MassDistribution object

Mass distribution, specified as a simscape.multibody.MassDistribution object.

Output Arguments

T — 3-D rigid transformation between principal and reference frames

simscape.multibody.Transformation object

3-D rigid transformation between the principal and implicit reference frames of the mass distribution, returned as a simscape.multibody.Transformation object.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a