id	summary	reporter	owner	description	type	status	priority	milestone	component	version	resolution	keywords	cc
5838	Unexpected type mismatch for smallRotation	dariomangoni@…	somebody	"at OpenModelica v1.16.0-dev-120-g0c802bd99

smallRotation compiles with the following error:

{{{
Translation Error
[Modelica.Mechanics.MultiBody.Frames: 3043:7-3045:13]: Type mismatch in if-expression in component . True branch: {T[2, 3], -T[1, 3], T[1, 2], T[1, 1] - 1.0, T[2, 2] - 1.0, T[1, 1] * T[2, 2] - T[2, 1] * T[1, 2] - 1.0} has type Real[6], false branch: {T[2, 3], -T[1, 3], T[1, 2]} has type Real[3].
}}}

This applies both for Mechanics.MultiBody.Frames.smallRotation and for Mechanics.MultiBody.Frames.TransormationMatrices.smallRotation.

In the attachment a minimal test
"	defect	closed	high	1.19.0	Frontend	v1.16.0-dev	fixed