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Fix broken link #4762

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319a7e3
Fix broken link
tobolar Mar 10, 2026
d903414
Fix broken link - save the referenced document directly in Resources
tobolar Mar 20, 2026
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4 changes: 2 additions & 2 deletions Modelica/Mechanics/MultiBody/Frames/Quaternions/from_T.mo
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Expand Up @@ -14,7 +14,7 @@ protected
algorithm
/*
This is an optimized version of the quaternion conversion based on
this paper: https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf
this paper: modelica://Modelica/Resources/Documentation/Mechanics/matrix-to-quat.pdf
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@beutlich beutlich Mar 24, 2026

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this paper: modelica://Modelica/Resources/Documentation/Mechanics/matrix-to-quat.pdf
this paper: https://web.archive.org/web/20170718214714/https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf

*/
if T[3, 3] < 0 then
if T[1, 1] > T[2, 2] then
Expand Down Expand Up @@ -74,7 +74,7 @@ package.
<ul>
<li>January 2021 by Jakub Tobolar<br>
reimplemented for more efficient and numerically stable algorithm according to
<a href=\"https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf\">https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf</a>.
<a href=\"modelica://Modelica/Resources/Documentation/Mechanics/matrix-to-quat.pdf\">matrix-to-quat.pdf</a>.
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@beutlich beutlich Mar 24, 2026

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<a href=\"modelica://Modelica/Resources/Documentation/Mechanics/matrix-to-quat.pdf\">matrix-to-quat.pdf</a>.
<a href=\"https://web.archive.org/web/20170718214714/https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf\">matrix-to-quat.pdf</a>.

It compares only one particular diagonal element with another to
select one of the four code parts. Then, the selected code delivers
four components which are close to the desired quaternion,
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