WOLFRAM SYSTEM MODELER

angularVelocity1

Return angular velocity resolved in frame 1 from orientation object and its derivative

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.angularVelocity1"]
Out[1]:=

Information

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

Syntax

w = TransformationMatrices.angularVelocity1(T, der_T);

Description

This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 1, from the transformation matrix T that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_T: 

w = vec( der(transpose(T)) * T ).

See also

Frames.angularVelocity1, Quaternions.angularVelocity1.

Syntax

w = angularVelocity1(T, der_T)

Inputs (2)

T

Type: Orientation

Description: Orientation object to rotate frame 1 into frame 2
der_T

Type: der_Orientation (1/s)

Description: Derivative of T

Outputs (1)

w

Type: AngularVelocity[3] (rad/s)

Description: Angular velocity of frame 2 with respect to frame 1 resolved in frame 1