function

LieGroups.SE2.wedge

Wedge map: se(2) vector -> 3x3 matrix (xi^wedge)

Public declarations

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

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

Modelica declarations and implementation

Show parameters, interfaces and source

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

function wedge "Wedge map: se(2) vector -> 3x3 matrix (xi^wedge)"
  input Real xi[3] "Lie algebra {vx, vy, omega}";
  output Real M[3,3] "3x3 Lie algebra matrix";
algorithm
  M[1,1] := 0;       M[1,2] := -xi[3];  M[1,3] := xi[1];
  M[2,1] := xi[3];   M[2,2] := 0;       M[2,3] := xi[2];
  M[3,1] := 0;       M[3,2] := 0;       M[3,3] := 0;
end wedge;