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**

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