package
LieGroups.SE3.Generic
SE(3) parameterized by a replaceable SO(3) representation
Members
| Name | Kind | Description |
|---|---|---|
| Rotation | package | |
| Element | record | SE(3) element with representation-independent translation |
| identity | function | SE(3) identity |
| product | function | SE(3) group product |
| inverse | function | SE(3) group inverse |
| exp_map | function | SE(3) exponential map |
| log_map | function | SE(3) logarithmic map |
| leftInvariantError | function | Log(reference^(-1) actual), a local error coordinate for analysis |
| rightInvariantError | function | Log(actual reference^(-1)), a spatial local error coordinate |
| to_Matrix | function | SE(3) homogeneous matrix |
| adjoint | function | SE(3) group adjoint |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Generic "SE(3) parameterized by a replaceable SO(3) representation"
replaceable package Rotation = LieGroups.SO3.Representations.Quaternion
constrainedby LieGroups.SO3.Interfaces.PartialRotation;
end Generic;