.Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.angularVelocity1

Information

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

Frames.angularVelocity1, Quaternions.angularVelocity1.

Interface

function angularVelocity1
  extends Modelica.Icons.Function;
  input TransformationMatrices.Orientation T "Orientation object to rotate frame 1 into frame 2";
  input der_Orientation der_T "Derivative of T";
  output Modelica.SIunits.AngularVelocity w[3] "Angular velocity of frame 2 with respect to frame 1 resolved in frame 1";
end angularVelocity1;