function

LieGroups.SE23.Generic.exp_map

SE_2(3) exponential map

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`tangent`	`Real`	`[9]`	{position tangent, velocity tangent, rotation tangent}
output	`element`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function exp_map "SE_2(3) exponential map"
  input Real tangent[9] "{position tangent, velocity tangent, rotation tangent}";
  output Element element;
protected
  Real J[3, 3];
algorithm
  J := LieGroups.SO3.Quat.left_jacobian(tangent[7:9]);
  element.position := J * tangent[1:3];
  element.velocity := J * tangent[4:6];
  element.rotation := Rotation.exp_map(tangent[7:9]);
end exp_map;