WOLFRAM SYSTEM MODELER

from_T

Return orientation object R from transformation matrix T

Wolfram Language

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

Information

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

Syntax

R = Frames.from_T(T, w);

Description

This function returns an orientation object R assembled from a transformation matrix T and an angular velocity vector w. Generally, the transformation matrix T can be gained using a function from the TransformationMatrices package.

See also

to_T. from_T_inv, TransformationMatrices.from_T, Quaternions.from_T.

Syntax

R = from_T(T, w)

Inputs (2)

T

Type: Real[3,3]

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

Type: AngularVelocity[3] (rad/s)

Description: Angular velocity from frame 2 with respect to frame 1, resolved in frame 2 (skew(w)=T*der(transpose(T)))

Outputs (1)

R

Type: Orientation

Description: Orientation object to rotate frame 1 into frame 2