I struggle to find a clear explanation as to if the the "rotation matrix" computed by the "transform sensor" block of Simscape Multibody is a DCM or a rotation matrix. To better clarify, let's assume the "transform sensor" measures the transform from the frame B (Base) to the frame F (Follower). I wonder which of the following the matrix that I obtain (R) is:
-pre-multiply type (DCM), so that if I wanna rotate a vector expressed in B, v_B, to be expressed in F, v_F I should do v_F= R*v_B,
-post-multiply type (rotation matrix), so that v_F = v_B*R
