T_inv = Frames.to_T_inv(R);
This function returns a real matrix T_inv computed from an orientation object R. The matrix T_inv is considered to be an inverse transformation matrix.
from_T_inv, to_T, TransformationMatrices.to_T_inv, Quaternions.to_T_inv.
function to_T_inv extends Modelica.Icons.Function; input Orientation R "Orientation object to rotate frame 1 into frame 2"; output Real T_inv[3, 3] "Inverse transformation matrix to transform vector from frame 2 into frame 1 (v1=T_inv*v2)"; end to_T_inv;