function

LieGroups.SE23.Generic.inverse

SE_2(3) group inverse

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	`result`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inverse "SE_2(3) group inverse"
  input Element element;
  output Element result;
protected
  Real inverseR[3, 3];
algorithm
  result.rotation := Rotation.inverse(element.rotation);
  inverseR := Rotation.to_Matrix(result.rotation);
  result.position := -inverseR * element.position;
  result.velocity := -inverseR * element.velocity;
end inverse;