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

Syntax

w = TransformationMatrices.angularVelocity2(T, der_T);

Description

This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 2, from the transformation matrix T that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_T:

w = vec( T * der(transpose(T)) ).

See also

Frames.angularVelocity2, Quaternions.angularVelocity2.

w = angularVelocity2(T, der_T)

T	Type: Orientation Description: Orientation object to rotate frame 1 into frame 2
der_T	Type: der_Orientation (¹/s) Description: Derivative of T

w	Type: AngularVelocity[3] (rad/s) Description: Angular velocity of frame 2 with respect to frame 1 resolved in frame 2