.Modelica.Mechanics.MultiBody.Frames.from_T

Information

Syntax

R = Frames.from_T(T, w);

Description

This function returns an orientation object R assembled from a transformation matrix T and an angular velocity vector w. Generally, the transformation matrix T can be gained using a function from the TransformationMatrices package.

See also

to_T. from_T_inv, TransformationMatrices.from_T, Quaternions.from_T.

Interface

function from_T
  extends Modelica.Icons.Function;
  input Real T[3, 3] "Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1)";
  input SI.AngularVelocity w[3] "Angular velocity from frame 2 with respect to frame 1, resolved in frame 2 (skew(w)=T*der(transpose(T)))";
  output Orientation R "Orientation object to rotate frame 1 into frame 2";
end from_T;