Q_inv = Quaternions.inverseRotation(Q);
This function returns quaternions orientation Q_inv that describes the orientation to rotate from frame 2 to frame 1 from the quaternions orientation Q that describes the orientation to rotate from frame 1 into frame 2.
Frames.inverseRotation, TransformationMatrices.inverseRotation.
function inverseRotation extends Modelica.Icons.Function; input Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2"; output Quaternions.Orientation Q_inv "Quaternions orientation object to rotate frame 2 into frame 1"; end inverseRotation;