function

LieGroups.DirectProduct.SE2R3R3.exp_map

Direct-product exponential map

Public declarations

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

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

Modelica declarations and implementation

Show parameters, interfaces and source

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

function exp_map "Direct-product exponential map"
  input Real tangent[9];
  output Real element[9];
algorithm
  element[1:3] := LieGroups.SE2.exp_map(tangent[1:3]);
  element[4:6] := tangent[4:6];
  element[7:9] := tangent[7:9];
end exp_map;