function

LieGroups.SE23.Generic.product

SE_2(3) group product

Public declarations

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

Role	Name	Type
input	`left`	`Element`
input	`right`	`Element`
output	`result`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function product "SE_2(3) group product"
  input Element left;
  input Element right;
  output Element result;
protected
  Real R[3, 3];
algorithm
  R := Rotation.to_Matrix(left.rotation);
  result.position := left.position + R * right.position;
  result.velocity := left.velocity + R * right.velocity;
  result.rotation := Rotation.product(
    left.rotation, right.rotation);
end product;