function

LieGroups.SE3.Generic.rightInvariantError

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

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

Show parameters, interfaces and source

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

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