9 Mapping of DataTypes

9.3 OPC UA Structure DataTypes

9.3.14 Rotation

This DataType is a structure that defines the rotation (or heading) of an object relative to the base coordinate system. The format is ‘yaw, pitch, roll’ as defined for aircraft principal axes. Its composition is formally defined in Table 67.

Table 67 – Rotation Structure

Name	Type	Description
Rotation	Structure	Subtype of Structure defined in OPC 10000-5.
Yaw	Double	The yaw of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180 and -180). Rotation measured around a vertical axis. Reference (yaw = 0) is the X-axis of the coordinate system
Pitch	Double	The pitch of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180 and -180). Rotation measured around a horizontal axis. Reference (pitch = 0) is the direction of the yaw on the horizontal plane of the coordinate system
Roll	Double	The roll of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180 and -180). Rotation measured around a horizontal axis pointing in the direction defined by yaw, pitch

Its representation in the AddressSpace is defined in Table 68.

Attribute	Value
BrowseName	Rotation
IsAbstract	False

Subtype of Structure defined in OPC 10000-5.

Table 68 – Rotation Definition