function

LieGroups.Analysis.inPrincipalLogDomain

True when an SO(3) matrix stays a requested margin away from the log cut locus

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`R`	`Real`	`[3, 3]`
input	`margin`	`Real`	`(min=0.0) = 1.0e-6`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function inPrincipalLogDomain
  "True when an SO(3) matrix stays a requested margin away from the log cut locus"
  input Real R[3, 3];
  input Real margin(min=0.0) = 1.0e-6;
  output Boolean valid;
protected
  constant Real pi = 2.0 * asin(1.0);
algorithm
  valid := margin < pi and
    LieGroups.Analysis.rotationAngle(R) < pi - margin;
end inPrincipalLogDomain;