Q = TransformationMatrices.to_Q(T, Q_guess);
This function returns a quaternion object Q computed from a transformation matrix T and depending on the initial guess Q_guess.
function to_Q extends Modelica.Icons.Function; input TransformationMatrices.Orientation T "Orientation object to rotate frame 1 into frame 2"; input Quaternions.Orientation Q_guess = Quaternions.nullRotation() "Guess value for output Q (there are 2 solutions; the one closer to Q_guess is used"; output Quaternions.Orientation Q "Quaternions orientation object to rotate frame 1 into frame 2"; end to_Q;