WOLFRAM SYSTEM MODELER
from_T_invReturn quaternion orientation object Q from inverse transformation matrix T_inv |
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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) |
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| 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) |
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