RigidBody/worldPositionRate.mo

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Documentation: RigidBody.worldPositionRate

within RigidBody;
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;