function

LieGroups.SE3.Quat.right_jacobian

Right Jacobian of SE(3)

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`tangent`	`Real`	`[6]`
output	`J`	`Real`	`[6, 6]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function right_jacobian "Right Jacobian of SE(3)"
  input Real tangent[6];
  output Real J[6, 6];
algorithm
  J := LieGroups.SE3.Quat.left_jacobian(-tangent);
end right_jacobian;