angularVelocity1Return angular velocity resolved in frame 1 from orientation object and its derivative |
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Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
w = TransformationMatrices.angularVelocity1(T, der_T);
Description
This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 1, 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( der(transpose(T)) * T ).
See also
Syntax
w = angularVelocity1(T, der_T)
Inputs (2)
| T |
Type: Orientation Description: Orientation object to rotate frame 1 into frame 2 |
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| der_T |
Type: der_Orientation (ยน/s) Description: Derivative of T |
Outputs (1)
| w |
Type: AngularVelocity[3] (rad/s) Description: Angular velocity of frame 2 with respect to frame 1 resolved in frame 1 |
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