### 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 61.

**Table 61** **– Rotation Structure**

Name |
Type |
Description |
---|---|---|

Rotation | Structure | |

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 62.

**Table 62** **– Rotation Definition**

Attributes |
Value |
---|---|

BrowseName | Rotation |

IsAbstract | False |

Subtype of Structure defined in OPC 10000-5. |