function

LieGroups.SE3.Generic.inverse

SE(3) group inverse

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`element`	`Element`
output	`result`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inverse "SE(3) group inverse"
  input Element element;
  output Element result;
algorithm
  result.rotation := Rotation.inverse(element.rotation);
  result.position :=
    -Rotation.to_Matrix(result.rotation) * element.position;
end inverse;