Developed 2010 at the DLR Institute of System Dynamics and Control
The input vector r_in is assumed to be a relative
kinematic quantity between frame_a and frame_b
that is defined to be resolved in the frame defined with parameter
frame_r_in. This model resolves vector r_in
in the coordinate system defined with parameter frame_r_out
and returns the transformed output vector as r_out.
Developed 2010 at the DLR Institute of System Dynamics and Control