function

LieGroups.DirectProduct.SE2R3R3.inverse

Direct-product group inverse

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`x`	`Real`	`[9]`
output	`result`	`Real`	`[9]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inverse "Direct-product group inverse"
  input Real x[9];
  output Real result[9];
algorithm
  result[1:3] := LieGroups.SE2.inverse(x[1:3]);
  result[4:6] := LieGroups.Rn.inverse(x[4:6]);
  result[7:9] := LieGroups.Rn.inverse(x[7:9]);
end inverse;