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inverseRotation.mo
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inverseRotation.mo
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within Modelica.Mechanics.MultiBody.Frames;
function inverseRotation "Return inverse orientation object"
extends Modelica.Icons.Function;
input Orientation R "Orientation object to rotate frame 1 into frame 2";
output Orientation R_inv
"Orientation object to rotate frame 2 into frame 1";
algorithm
R_inv := Orientation(T=transpose(R.T),w= -resolve1(R, R.w));
annotation(Inline=true, Documentation(info="<html>
<h4>Syntax</h4>
<blockquote><pre>
R_inv = Frames.<strong>inverseRotation</strong>(R);
</pre></blockquote>
<h4>Description</h4>
<p>
The function call <code>Frames.<strong>inverseRotation</strong>(R)</code> returns
orientation object R_inv that describes the orientation to rotate from frame 2 to frame 1
from the orientation object R that describes the orientation to rotate from frame 1 into frame 2.
</p>
<h4>See also</h4>
<p>
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.inverseRotation\">TransformationMatrices.inverseRotation</a>,
<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.Quaternions.inverseRotation\">Quaternions.inverseRotation</a>.
</p>
</html>"));
end inverseRotation;