function

LieGroups.Analysis.logQuadraticPotential

Local quadratic Lyapunov candidate in principal SO(3) logarithm coordinates

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	`metric`	`Real`	`[3, 3] = identity(3)`
output	`value`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function logQuadraticPotential
  "Local quadratic Lyapunov candidate in principal SO(3) logarithm coordinates"
  input Real R[3, 3];
  input Real metric[3, 3] = identity(3);
  output Real value;
protected
  Real tangent[3];
algorithm
  tangent := LieGroups.SO3.Dcm.log_map(R);
  value := 0.5 * LinearAlgebra.quadraticForm(tangent, metric);
end logQuadraticPotential;