function

LieGroups.SE3.Generic.leftInvariantError

Log(reference^(-1) actual), a local error coordinate for analysis

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`reference`	`Element`
input	`actual`	`Element`
output	`tangent`	`Real`	`[6]`

Modelica declarations and implementation

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

function leftInvariantError
  "Log(reference^(-1) actual), a local error coordinate for analysis"
  input Element reference;
  input Element actual;
  output Real tangent[6];
algorithm
  tangent := log_map(product(inverse(reference), actual));
end leftInvariantError;