.Modelica.Mechanics.MultiBody.Frames.to_T_inv

Information

Syntax

T_inv = Frames.to_T_inv(R);

Description

This function returns a real matrix T_inv computed from an orientation object R. The matrix T_inv is considered to be an inverse transformation matrix.

See also

from_T_inv, to_T, TransformationMatrices.to_T_inv, Quaternions.to_T_inv.

Interface

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