function

RigidBody.worldPositionRate

World-position component of the rigid-body vector field

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`state`	`RigidBody.State`
output	`rate`	`Real`	`[3]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function worldPositionRate "World-position component of the rigid-body vector field"
  input RigidBody.State state;
  output Real rate[3];
algorithm
  rate := LieGroups.SO3.Quat.to_DCM(state.attitude) * state.bodyVelocity;
end worldPositionRate;