function

LieGroups.SE23.Generic.adjoint

SE_2(3) group adjoint

Public declarations

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

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

Modelica declarations and implementation

Show parameters, interfaces and source

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

function adjoint "SE_2(3) group adjoint"
  input Element element;
  output Real Ad[9, 9];
protected
  Real R[3, 3];
algorithm
  R := Rotation.to_Matrix(element.rotation);
  Ad := zeros(9, 9);
  Ad[1:3, 1:3] := R;
  Ad[1:3, 7:9] := LieGroups.SO3.Quat.wedge(element.position) * R;
  Ad[4:6, 4:6] := R;
  Ad[4:6, 7:9] := LieGroups.SO3.Quat.wedge(element.velocity) * R;
  Ad[7:9, 7:9] := R;
end adjoint;