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