Algorithm (Workflow)

This function, smbSetRotationMatrix, is designed to set the rotation matrix for a specified block in a SimMechanics model. Below is a detailed explanation of the algorithm and its parameters:

Input Parameters

• BName: This parameter represents the block name or the current block (gcb) in the SimMechanics model. It is a string that identifies which block's rotation matrix is to be set.
• R: This is a 3x3 rotation matrix. It is a numerical matrix that defines the rotation to be applied to the block. The matrix should be provided in a format that represents a valid rotation in three-dimensional space.

Algorithm Steps

1. The function begins by converting the input rotation matrix R into a string format suitable for use in Simulink's set_param function. This is done using the sprintf function, which formats the matrix into a string with the elements arranged in a specific order. The matrix is transposed before formatting to ensure the correct orientation.
2. Next, the function uses the set_param function to set the rotation method of the specified block (BName) to 'RotationMatrix'. This tells Simulink that the block's rotation should be defined by a matrix rather than other methods like Euler angles or quaternions.
3. Finally, the function sets the actual rotation matrix for the block using set_param again. The formatted string R is passed as the value for the 'RotationMatrix' parameter of the block.

In summary, this function configures a block in a SimMechanics model to use a specified 3x3 rotation matrix for its orientation. It involves formatting the matrix into a string and setting the appropriate parameters on the block using Simulink's set_param function.