.Modelica.Mechanics.MultiBody.Frames.Quaternions.to_T_inv

Information

Syntax

T_inv = Quaternions.to_T_inv(Q);

Description

This function returns a real matrix T_inv computed from a quaternions orientation Q. The matrix T is considered to be an inverse transformation matrix.

See also

to_T, from_T_inv, Frames.to_T_inv, TransformationMatrices.to_T_inv.

Interface

function to_T_inv
  extends Modelica.Icons.Function;
  input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2";
  output Real T_inv[3, 3] "Transformation matrix to transform vector from frame 2 to frame 1 (v1=T*v2)";
end to_T_inv;