function

LieGroups.DirectProduct.SE2R3R3.adjoint

Direct-product adjoint

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`element`	`Real`	`[9]`
output	`Ad`	`Real`	`[9, 9]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function adjoint "Direct-product adjoint"
  input Real element[9];
  output Real Ad[9, 9];
algorithm
  Ad := zeros(9, 9);
  Ad[1:3, 1:3] := LieGroups.SE2.adjoint(element[1:3]);
  Ad[4:6, 4:6] := identity(3);
  Ad[7:9, 7:9] := identity(3);
end adjoint;