package
LieGroups.SO3.Mrp
SO(3) Modified Rodrigues Parameters — 3-parameter, singularity-free with shadow
Members
| Name | Kind | Description |
|---|---|---|
| exp_map | function | Exponential map: so(3) vector -> MRP |
| log_map | function | Logarithmic map: MRP -> so(3) rotation vector |
| product | function | MRP composition |
| inverse | function | MRP inverse: -r |
| shadow | function | MRP shadow transformation: r_s = -r / ||r||^2 |
| to_DCM | function | Convert MRP to rotation matrix |
| to_Quat | function | Convert MRP to quaternion |
| from_Quat | function | Convert quaternion to MRP |
| inPrincipalChart | function | True away from the norm-one MRP shadow-switch boundary |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Mrp "SO(3) Modified Rodrigues Parameters — 3-parameter, singularity-free with shadow"
end Mrp;