WOLFRAM SYSTEM MODELER

from_T2

Return orientation object R from transformation matrix T and its derivative der(T)

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.from_T2"]
Out[1]:=

Information

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

Syntax

R = Frames.from_T2(T, der_T);

Description

Computes the orientation object from a transformation matrix T and the derivative der(T) of the transformation matrix. Usually, it is more efficient to use function "from_T" instead, where the angular velocity has to be given as input argument. Only if this is not possible or too difficult to compute, use function from_T2(…).

See also

from_T.

Syntax

R = from_T2(T, der_T)

Inputs (2)

T

Type: Real[3,3]

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

Type: Real[3,3]

Description: = der(T)

Outputs (1)

R

Type: Orientation

Description: Orientation object to rotate frame 1 into frame 2