This information is part of the Modelica Standard Library maintained by the Modelica Association.

# Quaternions

Functions to transform rotational frame quantities based on quaternions (also called Euler parameters)

## Package Contents

absoluteRotation Return absolute quaternions orientation object from another absolute and a relative quaternions orientation object | |

angularVelocity1 Compute angular velocity resolved in frame 1 from quaternion orientation object and its derivative | |

angularVelocity2 Compute angular velocity resolved in frame 2 from quaternions orientation object and its derivative | |

der_OrientationFirst time derivative of Quaternions.Orientation | |

from_T Return quaternions orientation object Q from transformation matrix T | |

from_T_inv Return quaternions orientation object Q from inverse transformation matrix T_inv | |

inverseRotation Return inverse quaternions orientation object | |

multipleResolve1 Transform several vectors from frame 2 to frame 1 | |

multipleResolve2 Transform several vectors from frame 1 to frame 2 | |

nullRotation Return quaternions orientation object that does not rotate a frame | |

OrientationOrientation type defining rotation from a frame 1 into a frame 2 with quaternions {p1,p2,p3,p0} | |

orientationConstraint Return residues of orientation constraints (shall be zero) | |

planarRotation Return quaternions orientation object of a planar rotation | |

relativeRotation Return relative quaternions orientation object | |

resolve1 Transform vector from frame 2 to frame 1 | |

resolve2 Transform vector from frame 1 to frame 2 | |

smallRotation Return rotation angles valid for a small rotation | |

to_T Return transformation matrix T from quaternion orientation object Q | |

to_T_inv Return inverse transformation matrix T_inv from quaternion orientation object Q |