functionfrom_T
Return orientation object R from transformation matrix T
Extends from Modelica.Icons.Function (Icon for functions).
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.
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3,3] | T | Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1) | |
| SI.AngularVelocity[3] | w | Angular velocity from frame 2 with respect to frame 1, resolved in frame 2 (skew(w)=T*der(transpose(T))) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Orientation | R | Orientation object to rotate frame 1 into frame 2 |