function

LieGroups.SO3.Interfaces.PartialRotation.rightInvariantError

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

Show parameters, interfaces and source

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

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