function

LieGroups.SO3.Mrp.inPrincipalChart

True away from the norm-one MRP shadow-switch boundary

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`r`	`Real`	`[3]`
input	`margin`	`Real`	`(min=0.0) = 1.0e-6`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inPrincipalChart
  "True away from the norm-one MRP shadow-switch boundary"
  input Real r[3];
  input Real margin(min=0.0) = 1.0e-6;
  output Boolean valid;
algorithm
  valid := margin < 1.0 and r * r < (1.0 - margin)^2;
end inPrincipalChart;