.Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T_inv

Information

Syntax

Q = Quaternions.from_T_inv(T_inv, Q_guess);

Description

This function returns a quaternions orientation Q. computed from an inverse transformation matrix T_inv and depending on the initial guess Q_guess. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T).

See also

from_T, Frames.from_T_inv, TransformationMatrices.from_T_inv.

Interface

function from_T_inv
  extends Modelica.Icons.Function;
  input Real T_inv[3, 3] "Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2)";
  input Quaternions.Orientation Q_guess = nullRotation() "Guess value for output Q (there are 2 solutions; the one closer 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_inv;