function

LieGroups.SE23.Quat.exp_map

Exponential map: se_2(3) -> SE_2(3)

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`xi`	`Real`	`[9]`	Lie algebra {vb, ab, omega}
output	`X`	`Real`	`[10]`	Group element {p, v, q}

Modelica declarations and implementation

Show parameters, interfaces and source

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

function exp_map "Exponential map: se_2(3) -> SE_2(3)"
  input Real xi[9] "Lie algebra {vb, ab, omega}";
  output Real X[10] "Group element {p, v, q}";
protected
  Real J[3,3] "SO(3) left Jacobian";
  Real q[4] "Rotation exponential";
algorithm
  J := LieGroups.SO3.Quat.left_jacobian(xi[7:9]);
  q := LieGroups.SO3.Quat.exp_map(xi[7:9]);

  X[1:3] := J * xi[1:3];
  X[4:6] := J * xi[4:6];
  X[7:10] := q;
end exp_map;