function

LieGroups.SO3.EulerB321.exp_map

so(3) exponential in B321 Euler coordinates

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`	`[3]`
output	`element`	`Real`	`[3]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function exp_map "so(3) exponential in B321 Euler coordinates"
  input Real tangent[3];
  output Real element[3];
algorithm
  element := LieGroups.SO3.Euler.from_Matrix(
    LieGroups.SO3.Dcm.exp_map(tangent),
    {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true);
end exp_map;