functionangularVelocity1
Return angular velocity resolved in frame 1 from orientation object and its derivative
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
w = TransformationMatrices.angularVelocity1(T, der_T);
Description
This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 1, from the transformation matrix T that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_T:
w = vec( der(transpose(T)) * T ).
See also
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| TransformationMatrices.Orientation | T | Orientation object to rotate frame 1 into frame 2 | |
| der_Orientation | der_T | Derivative of T |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.AngularVelocity[3] | w | Angular velocity of frame 2 with respect to frame 1 resolved in frame 1 |