WOLFRAM SYSTEM MODELER

from_T

Return quaternion orientation object Q from transformation matrix T

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.Quaternions.from_T"]
Out[1]:=

Information

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

Syntax

Q = Quaternions.from_T(T, Q_guess);

Description

This function returns a quaternions orientation Q. computed from a transformation matrix T and depending on the initial guess Q_guess. Generally, the transformation matrix T can be gained using a function from the TransformationMatrices package.

See also

to_T. from_T_inv, Frames.from_T, TransformationMatrices.from_T.

Syntax

Q = from_T(T, Q_guess)

Inputs (2)

T

Type: Real[3,3]

Description: Transformation matrix to transform vector from frame 1 to frame 2 (v2=T*v1)
Q_guess

Default Value: nullRotation()

Type: Orientation

Description: Guess value for Q (there are 2 solutions; the one close to Q_guess is used

Outputs (1)

Q

Type: Orientation

Description: Quaternions orientation object to rotate frame 1 into frame 2 (Q and -Q have same transformation matrix)