# RotationalTransformation Methods

The RotationalTransformation type exposes the following members.

Methods
NameDescription
Compose(AngleAxisRotation, MotionUnitQuaternion, Cartesian, Int32)
Forms a new rotational transformation as the composition of two transformations. The rotational rates of the first 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".
Compose(ElementaryRotation, MotionUnitQuaternion, Cartesian, Int32)
Forms a new rotational transformation as the composition of two transformations. The rotational rates of the first 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".
Compose(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".
Compose(MotionUnitQuaternion, Cartesian, ElementaryRotation, 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".
Compose(MotionUnitQuaternion, Cartesian, MotionUnitQuaternion, Cartesian, Int32)
Forms a new rotational transformation as the composition of two transformations. 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".
Invert
Forms the inverse rotational transformation. If this transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "B" and axes "A".
Transform
Transforms the vector observed in the A axes to the B axes.
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