package

LieGroups.SE23.Generic

SE_2(3) parameterized by a replaceable SO(3) representation

Members

Name	Kind	Description
Rotation	package
Element	record	SE_2(3) element with replaceable rotation coordinates
identity	function	SE_2(3) identity
product	function	SE_2(3) group product
inverse	function	SE_2(3) group inverse
exp_map	function	SE_2(3) exponential map
log_map	function	SE_2(3) logarithmic map
leftInvariantError	function	Log(reference^(-1) actual), a local error coordinate for analysis
rightInvariantError	function	Log(actual reference^(-1)), a spatial local error coordinate
to_Matrix	function	SE_2(3) homogeneous matrix
adjoint	function	SE_2(3) group adjoint
calculateN	function	Closed-form mixed-exponential translational term
exp_mixed	function	Mixed left/right SE_2(3) exponential update

Modelica declarations and implementation

Show parameters, interfaces and source

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

package Generic "SE_2(3) parameterized by a replaceable SO(3) representation"
  replaceable package Rotation = LieGroups.SO3.Representations.Quaternion
    constrainedby LieGroups.SO3.Interfaces.PartialRotation;
end Generic;