function

LieGroups.SO3.Quat.inverse

Quaternion inverse (conjugate for unit quaternions)

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`q`	`Real`	`[4]`	{w,x,y,z}
output	`q_inv`	`Real`	`[4]`	{w,-x,-y,-z}

Modelica declarations and implementation

Show parameters, interfaces and source

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

function inverse "Quaternion inverse (conjugate for unit quaternions)"
  input Real q[4] "{w,x,y,z}";
  output Real q_inv[4] "{w,-x,-y,-z}";
algorithm
  q_inv[1] :=  q[1];
  q_inv[2] := -q[2];
  q_inv[3] := -q[3];
  q_inv[4] := -q[4];
end inverse;