package

LieGroups.SE3.Quat

SE(3) with quaternion rotation parameterization

Group element: X = {px, py, pz, qw, qx, qy, qz} (7 params).

Lie algebra: xi = {vx, vy, vz, omega_x, omega_y, omega_z} (6 params, translation-first).

Members

Name	Kind	Description
product	function	SE(3) group product
inverse	function	SE(3) inverse
exp_map	function	Exponential map: se(3) -> SE(3)
log_map	function	Logarithmic map: SE(3) -> se(3)
to_Matrix	function	Convert SE(3) element to 4x4 homogeneous matrix
adjoint	function	Adjoint Ad_X for SE(3), translation-first ordering
small_adjoint	function	Small adjoint ad_xi for se(3), translation-first ordering
wedge	function	se(3) vector to homogeneous algebra matrix
vee	function	Homogeneous se(3) matrix to tangent vector
left_Q	function	Barfoot Q-matrix: off-diagonal block of the SE(3) left Jacobian
right_Q	function	Right Q block of the SE(3) Jacobian
left_jacobian	function	Left Jacobian of SE(3)
left_jacobian_inv	function	Inverse left Jacobian of SE(3)
right_jacobian	function	Right Jacobian of SE(3)
right_jacobian_inv	function	Inverse right Jacobian of SE(3)

Modelica declarations and implementation

Show parameters, interfaces and source

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

package Quat "SE(3) with quaternion rotation parameterization"
  annotation(Documentation(info="<html>
    <p>Group element: X = {px, py, pz, qw, qx, qy, qz} (7 params).</p>
    <p>Lie algebra: xi = {vx, vy, vz, omega_x, omega_y, omega_z} (6 params, translation-first).</p>
  </html>"));
end Quat;