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

Syntax

R = Frames.from_T_inv(T_inv, w);

Description

This function returns an orientation object R assembled from an inverse transformation matrix T_inv and a correspondent angular velocity vector w. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T). Note that the velocity vector w has to be calculated accordingly.

See also

from_T, TransformationMatrices.from_T_inv, Quaternions.from_T_inv.

R = from_T_inv(T_inv, w)

T_inv	Type: Real[3,3] Description: Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2)
w	Type: AngularVelocity[3] (rad/s) Description: Angular velocity from frame 1 with respect to frame 2, resolved in frame 1 (skew(w)=T_inv*der(transpose(T_inv)))

R	Type: Orientation Description: Orientation object to rotate frame 1 into frame 2