Q_rel = Quaternions.relativeRotation(Q1, Q2);
This function returns quaternions orientation Q_rel that describes the orientation to rotate frame 1 to frame 2 from the quaternions orientation Q1 that describes the orientation to rotate from frame 0 to frame 1 and from the quaternions orientation Q2 that describes the orientation to rotate from frame 0 to frame 2.
Frames.relativeRotation, TransformationMatrices.relativeRotation.
function relativeRotation extends Modelica.Icons.Function; input Quaternions.Orientation Q1 "Quaternions orientation object to rotate frame 0 into frame 1"; input Quaternions.Orientation Q2 "Quaternions orientation object to rotate frame 0 into frame 2"; output Quaternions.Orientation Q_rel "Quaternions orientation object to rotate frame 1 into frame 2"; end relativeRotation;