T_rel = TransformationMatrices.relativeRotation(T1, T2);
This function returns transformation matrix T_rel that describes the orientation to rotate frame 1 to frame 2 from the transformation matrix T1 that describes the orientation to rotate from frame 0 to frame 1 and from the transformation matrix T2 that describes the orientation to rotate from frame 0 to frame 2.
Frames.relativeRotation, Quaternions.relativeRotation.
function relativeRotation extends Modelica.Icons.Function; input TransformationMatrices.Orientation T1 "Orientation object to rotate frame 0 into frame 1"; input TransformationMatrices.Orientation T2 "Orientation object to rotate frame 0 into frame 2"; output TransformationMatrices.Orientation T_rel "Orientation object to rotate frame 1 into frame 2"; end relativeRotation;