Format

THETA(I, J)

Description

The THETA function computes the second angle, in radians, of a body-2 Euler angle rotation sequence (body-3, body-1, body-3) of marker I with respect to marker J. The first argument, marker I, must be specified.  The second argument, marker J, is optional.

Example

<Motion_Joint

    id                  = "301001"

    type                = "EXPRESSION"

    val_type            = "D"

    expr                = "STEP5(TIME,.2,0,.4,180D)"

    joint_id            = "10010"

    joint_type          = "R"

/>

Arguments

I

The marker whose rotational displacement is to be computed.

J

The marker with respect to which the rotational displacement is to be computed.  This argument is optional.  If omitted, it defaults to the ground coordinate system.