functionfrom_T_inv
Return quaternion orientation object Q from inverse transformation matrix T_inv
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
Q = Quaternions.from_T_inv(T_inv, Q_guess);
Description
This function returns a quaternions orientation Q. computed from an inverse transformation matrix T_inv and depending on the initial guess Q_guess. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T).
See also
from_T, Frames.from_T_inv, TransformationMatrices.from_T_inv.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3,3] | T_inv | Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2) | |
| Quaternions.Orientation | Q_guess | nullRotation() | Guess value for output Q (there are 2 solutions; the one closer to Q_guess is used |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Quaternions.Orientation | Q | Quaternions orientation object to rotate frame 1 into frame 2 (Q and -Q have same transformation matrix) |