function

LieGroups.SO3.EulerB321.inverse

B321 Euler-coordinate group inverse

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`element`	`Real`	`[3]`
output	`result`	`Real`	`[3]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inverse "B321 Euler-coordinate group inverse"
  input Real element[3];
  output Real result[3];
protected
  Real R[3, 3];
algorithm
  R := LieGroups.SO3.Euler.to_Matrix(element,
    {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true);
  result := LieGroups.SO3.Euler.from_Matrix(transpose(R),
    {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true);
end inverse;