.Modelica.Mechanics.MultiBody.Frames.from_T_inv

Information

Syntax

R = Frames.from_T_inv(T_inv, w);

Description

This function returns an orientation object R assembled from an inverse transformation matrix T_inv and a correspondent angular velocity vector w. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T). Note that the velocity vector w has to be calculated accordingly.

See also

from_T, TransformationMatrices.from_T_inv, Quaternions.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 Modelica.SIunits.AngularVelocity w[3] "Angular velocity from frame 1 with respect to frame 2, resolved in frame 1 (skew(w)=T_inv*der(transpose(T_inv)))";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end from_T_inv;