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AlignedConstrainedGetMotion Method (MotionUnitCartesian, Cartesian, MotionUnitCartesian, Cartesian, Int32)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Namespace:  AGI.Foundation.Coordinates
Assembly:  AGI.Foundation.Core (in AGI.Foundation.Core.dll) Version: 19.1.398.0 (19.1.398.0)
Syntax
public static Motion<UnitQuaternion, Cartesian> GetMotion(
	Motion<UnitCartesian, Cartesian> principal,
	Motion<UnitCartesian, Cartesian> reference,
	int order
)

Parameters

principal
Type: AGI.FoundationMotionUnitCartesian, Cartesian
The principal direction vector with which the X-axis will be aligned.
reference
Type: AGI.FoundationMotionUnitCartesian, Cartesian
The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.
order
Type: SystemInt32
The order of the highest derivative to compute. To compute just the rotation, pass 0 for this value. To compute rotational velocity as well, pass 1.

Return Value

Type: MotionUnitQuaternion, Cartesian
The transformation to the aligned-constrained axes.
See Also