package
LieGroups.SO3.EulerB321
Body-fixed Z-Y-X (3-2-1) Euler angles: {yaw, pitch, roll}
Members
| Name | Kind | Description |
|---|---|---|
| to_Quat | function | Convert Euler B321 angles to quaternion via half-angle formula |
| from_Quat | function | Convert quaternion to Euler B321 angles {yaw, pitch, roll} |
| to_DCM | function | B321 Euler coordinates to DCM |
| product | function | B321 Euler-coordinate group product |
| inverse | function | B321 Euler-coordinate group inverse |
| exp_map | function | so(3) exponential in B321 Euler coordinates |
| log_map | function | B321 Euler coordinates to so(3) tangent |
| adjoint | function | SO(3) adjoint in B321 coordinates |
| right_jacobian | function | Map body angular velocity to B321 Euler rates |
| left_jacobian | function | Map spatial angular velocity to B321 Euler rates |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package EulerB321 "Body-fixed Z-Y-X (3-2-1) Euler angles: {yaw, pitch, roll}"
end EulerB321;