function

LieGroups.SO3.EulerB321.product

B321 Euler-coordinate group product

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`left`	`Real`	`[3]`
input	`right`	`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 product "B321 Euler-coordinate group product"
  input Real left[3];
  input Real right[3];
  output Real result[3];
algorithm
  result := LieGroups.SO3.Euler.from_Matrix(
    LieGroups.SO3.Euler.to_Matrix(left,
      {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true)
    * LieGroups.SO3.Euler.to_Matrix(right,
      {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true),
    {LieGroups.SO3.Euler.Axis.z, LieGroups.SO3.Euler.Axis.y, LieGroups.SO3.Euler.Axis.x}, true);
end product;