I am recently working with the Transform class and there is a point that I am not sure to fully understand when generating a transformation between two reference frames.

Given two different reference frames it’s possible to create a Transform by means of the method getTransformTo(…) of the class Frame. In the general case of two references frames A and B, I can generate this transform with the call *Transform transf = refA.getTransformTo(refB)*.

Once the Transform is obtained I can call the associated getter “getRotation()” and “getRotationRate()”. Looking at the javadoc, I understand that:

- the result of the “getRotationRate()” call should return the angular velocity of refB with respect to refA expressed in the “refB”. Could you please confirm?
- I am not sure about the result returned by the call to “getRotation()” : is it the rotation that allows to transform a vector from refB to refA or the inverse? At the beginning I thought that the rotation returned by “transform.getRotation()” was the rotation allowing to transform a vector expressed in the refA to the refB but I am realising that maybe it’s the inverse (cfr the description reported by the javadoc of Transform in the associated class for the example of rotations). Do you know something more about that to clarify me?