function

LieGroups.SO3.EulerB321.log_map

B321 Euler coordinates to so(3) tangent

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	`tangent`	`Real`	`[3]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

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