function

LieGroups.SE23.Generic.to_Matrix

SE_2(3) homogeneous matrix

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	`matrixRepresentation`	`Real`	`[5, 5]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function to_Matrix "SE_2(3) homogeneous matrix"
  input Element element;
  output Real matrixRepresentation[5, 5];
algorithm
  matrixRepresentation := zeros(5, 5);
  for i in 1:5 loop
    matrixRepresentation[i, i] := 1.0;
  end for;
  matrixRepresentation[1:3, 1:3] :=
    Rotation.to_Matrix(element.rotation);
  matrixRepresentation[1:3, 4] := element.velocity;
  matrixRepresentation[1:3, 5] := element.position;
end to_Matrix;