WOLFRAM SYSTEM MODELER
from_T_invReturn orientation object R from inverse transformation matrix T_inv |
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Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Frames.from_T_inv"]
Out[1]:=
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Syntax
R = Frames.from_T_inv(T_inv, w);
Description
This function returns an orientation object R assembled from an inverse transformation matrix T_inv and a correspondent angular velocity vector w. Generally, the transformation matrix T_inv can be gained using a function from the TransformationMatrices package, e.g. using T_inv = inverseRotation(T). Note that the velocity vector w has to be calculated accordingly.
See also
from_T, TransformationMatrices.from_T_inv, Quaternions.from_T_inv.
Syntax
R = from_T_inv(T_inv, w)
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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| w |
Type: AngularVelocity[3] (rad/s) Description: Angular velocity from frame 1 with respect to frame 2, resolved in frame 1 (skew(w)=T_inv*der(transpose(T_inv))) |
Outputs (1)
| R |
Type: Orientation Description: Orientation object to rotate frame 1 into frame 2 |
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