Ticket #4212: TestCrossFunction.mo

model TestCrossFunction
  import Modelica.Mechanics.MultiBody.Frames;
  Frames.Orientation R = Frames.nullRotation();
  Real v1[3], v2[3];

  function f
    input Frames.Orientation R;
    input Real v1[3];
    output Real v2[3];
  algorithm
    v2 :=  Frames.resolveRelative(cross(Frames.angularVelocity2(R), v1), R, R);
  end f;
  
equation
  v1 = {0, 0, 0};
  v2 = f(R, v1);
end TestCrossFunction;