This information is part of the Modelica Standard Library maintained by the Modelica Association.

Syntax

Q = Quaternions.from_T_inv(T_inv, Q_guess);

Description

This function returns a quaternions orientation Q. computed from an inverse transformation matrix T_inv and depending on the initial guess Q_guess. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T).

See also

from_T, Frames.from_T_inv, TransformationMatrices.from_T_inv.

Q = from_T_inv(T_inv, Q_guess)

T_inv	Type: Real[3,3] Description: Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2)
Q_guess	Default Value: nullRotation() Type: Orientation Description: Guess value for output Q (there are 2 solutions; the one closer to Q_guess is used

Q	Type: Orientation Description: Quaternions orientation object to rotate frame 1 into frame 2 (Q and -Q have same transformation matrix)