.Modelica.Mechanics.MultiBody.Frames.Quaternions.angularVelocity2

Information

Syntax

w = Quaternions.angularVelocity2(Q, der_Q);

Description

This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 2, from the quaternions orientation Q that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_Q.

See also

Frames.angularVelocity2, TransformationMatrices.angularVelocity2.

Interface

function angularVelocity2
  extends Modelica.Icons.Function;
  input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2";
  input der_Orientation der_Q "Derivative of Q";
  output Modelica.SIunits.AngularVelocity w[3] "Angular velocity of frame 2 with respect to frame 1 resolved in frame 2";
end angularVelocity2;