function

LieGroups.SE23.Quat.wedge

se_2(3) tangent to homogeneous algebra matrix

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`tangent`	`Real`	`[9]`	{position tangent, velocity tangent, rotation tangent}
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 wedge "se_2(3) tangent to homogeneous algebra matrix"
  input Real tangent[9] "{position tangent, velocity tangent, rotation tangent}";
  output Real matrixRepresentation[5, 5];
algorithm
  matrixRepresentation := zeros(5, 5);
  matrixRepresentation[1:3, 1:3] := LieGroups.SO3.Quat.wedge(tangent[7:9]);
  matrixRepresentation[1:3, 4] := tangent[4:6];
  matrixRepresentation[1:3, 5] := tangent[1:3];
end wedge;