w = Quaternions.angularVelocity2(Q, der_Q);
This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 2, from the quaternions orientation Q that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_Q.
Frames.angularVelocity2, TransformationMatrices.angularVelocity2.
function angularVelocity2 extends Modelica.Icons.Function; input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2"; input der_Orientation der_Q "Derivative of Q"; output SI.AngularVelocity w[3] "Angular velocity of frame 2 with respect to frame 1 resolved in frame 2"; end angularVelocity2;