function

LieGroups.SE3.Quat.wedge

se(3) vector to homogeneous algebra matrix

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]`	{translation, rotation}
output	`matrixRepresentation`	`Real`	`[4, 4]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function wedge "se(3) vector to homogeneous algebra matrix"
  input Real tangent[6] "{translation, rotation}";
  output Real matrixRepresentation[4, 4];
algorithm
  matrixRepresentation := zeros(4, 4);
  matrixRepresentation[1:3, 1:3] := LieGroups.SO3.Quat.wedge(tangent[4:6]);
  matrixRepresentation[1:3, 4] := tangent[1:3];
end wedge;