function

LieGroups.SO3.Interfaces.PartialRotation.leftInvariantError

Log(reference^(-1) actual), expressed in the reference frame

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`reference`	`Orientation`
input	`actual`	`Orientation`
output	`tangent`	`Real`	`[3]`

Modelica declarations and implementation

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

function leftInvariantError
    "Log(reference^(-1) actual), expressed in the reference frame"
    input Orientation reference;
    input Orientation actual;
    output Real tangent[3];
  protected
    Orientation relative;
  algorithm
    relative := product(inverse(reference), actual);
    tangent := log_map(relative);
  end leftInvariantError;