function

LieGroups.SE23.Quat.product_right_factor_jacobian

Right-trivialized derivative of product with respect to its right factor

Rule for product, right slot. A right perturbation of the right factor is already a right perturbation of the product, so the rule is the identity for every pair of elements and the identity is exact.

The function takes both factors so that every rule in the library has its primitive's signature.

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`X1`	`Real`	`[10]`	Left element {p1, v1, q1}
input	`X2`	`Real`	`[10]`	Right element {p2, v2, q2}
output	`J`	`Real`	`[9, 9]`	d/d(dX) of log_map(product(X1,X2)^-1 * product(X1, X2*exp_map(dX)))

Modelica declarations and implementation

Show parameters, interfaces and source

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

function product_right_factor_jacobian
  "Right-trivialized derivative of product with respect to its right factor"
  input Real X1[10] "Left element {p1, v1, q1}";
  input Real X2[10] "Right element {p2, v2, q2}";
  output Real J[9, 9]
    "d/d(dX) of log_map(product(X1,X2)^-1 * product(X1, X2*exp_map(dX)))";
algorithm
  J := identity(9);
  annotation(Documentation(info="<html>
    <p>Rule for <code>product</code>, right slot. A right perturbation of the
    right factor is already a right perturbation of the product, so the rule is
    the identity for every pair of elements and the identity is exact.</p>
    <p>The function takes both factors so that every rule in the library has its
    primitive's signature.</p>
  </html>"));
end product_right_factor_jacobian;