.Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T

Information

Syntax

Q = Quaternions.from_T(T, Q_guess);

Description

This function returns a quaternions orientation Q. computed from a transformation matrix T and depending on the initial guess Q_guess. Generally, the transformation matrix T can be gained using a function from the TransformationMatrices package.

See also

to_T. from_T_inv, Frames.from_T, TransformationMatrices.from_T.

Interface

function from_T
  extends Modelica.Icons.Function;
  input Real T[3, 3] "Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1)";
  input Quaternions.Orientation Q_guess = nullRotation() "Guess value for Q (there are 2 solutions; the one close to Q_guess is used";
  output Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2 (Q and -Q have same transformation matrix)";
end from_T;