functionfrom_T2
Return orientation object R from transformation matrix T and its derivative der(T)
Extends from Modelica.Icons.Function (Icon for functions).
Information
Syntax
R = Frames.from_T2(T, der_T);
Description
Computes the orientation object from a transformation matrix T and the derivative der(T) of the transformation matrix. Usually, it is more efficient to use function "from_T" instead, where the angular velocity has to be given as input argument. Only if this is not possible or too difficult to compute, use function from_T2(…).
See also
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3,3] | T | Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1) | |
| Real[3,3] | der_T | = der(T) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Orientation | R | Orientation object to rotate frame 1 into frame 2 |