function

LieGroups.SE3.Quat.vee

Homogeneous se(3) matrix to tangent vector

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`matrixRepresentation`	`Real`	`[4, 4]`
output	`tangent`	`Real`	`[6]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function vee "Homogeneous se(3) matrix to tangent vector"
  input Real matrixRepresentation[4, 4];
  output Real tangent[6];
algorithm
  tangent[1:3] := matrixRepresentation[1:3, 4];
  tangent[4:6] := LieGroups.SO3.Quat.vee(matrixRepresentation[1:3, 1:3]);
end vee;