I have a little question concerning the definition of the rotation matrix in the rigid body frame.
The rotation matrix is defined like that in the help menu : "The rotation matrix that transforms a vector expressed in the outboard frame to the inboard frame".
Consequently, we have :
But in this short example, when i use the rotation, it seems for me that the new frame is not well defined with respect to the fixed frame. Indeed, for me, the picture correspond to and not R.
How can i do to have to define without having need to change the signe to have the good orientation of the created frame from the fixed frame.
The MapleSIM file is : essai.msim
Thank you for your help