function

LieGroups.SE3.Generic.product

SE(3) group product

Public declarations

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

Role	Name	Type
input	`left`	`Element`
input	`right`	`Element`
output	`result`	`Element`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function product "SE(3) group product"
  input Element left;
  input Element right;
  output Element result;
algorithm
  result.position := left.position
    + Rotation.to_Matrix(left.rotation) * right.position;
  result.rotation := Rotation.product(
    left.rotation, right.rotation);
end product;