function

LieGroups.SE3.Generic.exp_map

SE(3) exponential map

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`	`[6]`	{translation, rotation}
output	`element`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function exp_map "SE(3) exponential map"
  input Real tangent[6] "{translation, rotation}";
  output Element element;
algorithm
  element.position := LieGroups.SO3.Quat.left_jacobian(tangent[4:6])
    * tangent[1:3];
  element.rotation := Rotation.exp_map(tangent[4:6]);
end exp_map;