function

LieGroups.SO3.EulerB321.left_jacobian

Map spatial angular velocity to B321 Euler rates

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	`J`	`Real`	`[3, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function left_jacobian "Map spatial angular velocity to B321 Euler rates"
  input Real element[3];
  output Real J[3, 3];
algorithm
  J := LieGroups.SO3.EulerB321.right_jacobian(element)
    * LieGroups.SO3.EulerB321.to_DCM(element);
end left_jacobian;