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Adjunct Rotation

Adjunct Rotation

Adjunct rotation is accumulated infinitesimal rotation (integration) along the real path of the movement.

Configuration

Attribute	Description	Default	Required
basisCoordinateSystem			Yes
movingCoordinateSystem			Yes
threshold			No
diffMethod or the deprecated name method	The determination of the needed derivatives can be made based on different equations: based on „cardanangles“, „poissonquaternion“ or „poissionmatrix“. The first two methods are experimental and have issues. The last is based on [~omega] = [~M.(t)]*transpose([M(t)]) and works fine.	poissonmatrix	No
eventType	If no phase defined and found and also no event found, the integration starts with the first found frame.	GG	No
phaseType	If this attribute is set to the phase type name, the integration starts with beginning of each phase and ends with the end of each phase.		No
rotationOrder	xyz or xyx … used for method==cardan,	xyz	No
unit	deg or rad	deg	No

The expression child element defines the start values. It must be of type Tuple3d. This can be reached by using the function „vec(a,b,c)“.

If phase definitions are used to with start values and if two phases are continous a NaN value is inserted for the end position index of the first phase. This leads to non continouus values needed in the plot UI component.

Create trajectories and parameters

Name	Type	Description	Timeserie
<name>	Matrix3d	Rotation matrix	Yes
<name>Angles	Vector3d	Adjunct rotation angles, rotations around all three axes (integrated) in the moving system	Yes
<name>RotMatrix	Vector3d	Trajektory with angluar velocities in the moving system, e.g. „dRShoulderAdjunctRotationRotMatrix“	Yes
<name>Q	Quarternion3D	Created only, if method=„poissonquaternion“.	Yes
<name>StartValue	Vector3d	Start values	No

Example

<AdjunctRotation name="RShoulderHDAdjunctRotation"
                         basisCoordinateSystem="RThoraxHDCalA"
                         movingCoordinateSystem="RHumuersHDCalA"
                         eventType="RHS"
                         unit="deg"
                         includes="dynamic">vec(0,RShoulderIroAroHDCalAngle,0)</AdjunctRotation>