function

LieGroups.SE2.vee

Vee map: 3x3 se(2) matrix -> vector (M^vee)

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`M`	`Real`	`[3,3]`	3x3 Lie algebra matrix
output	`xi`	`Real`	`[3]`	Lie algebra {vx, vy, omega}

Modelica declarations and implementation

Show parameters, interfaces and source

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

function vee "Vee map: 3x3 se(2) matrix -> vector (M^vee)"
  input Real M[3,3] "3x3 Lie algebra matrix";
  output Real xi[3] "Lie algebra {vx, vy, omega}";
algorithm
  xi[1] := M[1,3];
  xi[2] := M[2,3];
  xi[3] := M[2,1];
end vee;