function

LieGroups.DirectProduct.SE2R3R3.log_map

Direct-product logarithmic map

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	`tangent`	`Real`	`[9]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

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