DME Component Libraries for .NET 2023 r1

## RotationalTransformationCompose Method (MotionUnitQuaternion, Cartesian, AngleAxisRotation, Int32) |

Forms a new rotational transformation as the composition of two transformations. The rotational rates of
the second transformation are assumed to be zero. If the first transformation represents the transformation
between axes "B" and axes "C" and the second transformation represents the
transformation between axes "A" and axes "B", the result represents the transformation
between axes "A" and axes "C".

Syntax

public static Motion<UnitQuaternion, Cartesian> Compose( Motion<UnitQuaternion, Cartesian> first, AngleAxisRotation second, int order )

- first
- Type: AGI.FoundationMotionUnitQuaternion, Cartesian

The transformation between axes "B" and axes "C". - second
- Type: AGI.Foundation.CoordinatesAngleAxisRotation

The transformation between axes "A" and axes "B". - order
- Type: SystemInt32

The order of highest required derivative. To retrieve just the rotation, pass 0 for this value. To retrieve the rotational velocity as well, pass 1. etc.

The transformation between axes "A" and axes "C".

See Also