function

LieGroups.SO3.Mrp.shadow

MRP shadow transformation: r_s = -r / ||r||^2

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`r`	`Real`	`[3]`	MRP parameters
output	`r_s`	`Real`	`[3]`	Shadow MRP parameters

Modelica declarations and implementation

Show parameters, interfaces and source

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

function shadow "MRP shadow transformation: r_s = -r / ||r||^2"
  input Real r[3] "MRP parameters";
  output Real r_s[3] "Shadow MRP parameters";
protected
  Real n_sq;
  constant Real eps = 1e-10;
algorithm
  n_sq := max(r[1]^2 + r[2]^2 + r[3]^2, eps);
  r_s := -r / n_sq;
end shadow;