.Modelica.Mechanics.MultiBody.Frames.from_T2

Information

Syntax

R = Frames.from_T2(T, der_T);

Description

Computes the orientation object from a transformation matrix T and the derivative der(T) of the transformation matrix. Usually, it is more efficient to use function "from_T" instead, where the angular velocity has to be given as input argument. Only if this is not possible or too difficult to compute, use function from_T2(..).

See also

from_T.

Interface

function from_T2
  extends Modelica.Icons.Function;
  input Real T[3, 3] "Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1)";
  input Real der_T[3, 3] "= der(T)";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end from_T2;