WOLFRAM SYSTEM MODELER

from_T_inv

Return quaternion orientation object Q from inverse transformation matrix T_inv

Wolfram Language

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

Information

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

Syntax

Q = Quaternions.from_T_inv(T_inv, Q_guess);

Description

This function returns a quaternions orientation Q. computed from an inverse transformation matrix T_inv and depending on the initial guess Q_guess. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T).

See also

from_T, Frames.from_T_inv, TransformationMatrices.from_T_inv.

Syntax

Q = from_T_inv(T_inv, Q_guess)

Inputs (2)

T_inv

Type: Real[3,3]

Description: Inverse transformation matrix to transform vector from frame 2 to frame 1 (v1=T_inv*v2)

Q_guess

Default Value: nullRotation()

Type: Orientation

Description: Guess value for output Q (there are 2 solutions; the one closer 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)