function

Tests.ObservabilityConstrainedPredictionTests.nullspaceDirection

Global-yaw nullspace direction (e_z x p, e_z x v, R' e_z, 0, 0) of the 15-state error

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`position`	`Real`	`[3]`
input	`velocity`	`Real`	`[3]`
input	`rotation`	`Real`	`[3,3]`
output	`direction`	`Real`	`[15]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function nullspaceDirection "Global-yaw nullspace direction (e_z x p, e_z x v, R' e_z, 0, 0) of the 15-state error"
    input Real position[3]; input Real velocity[3]; input Real rotation[3,3];
    output Real direction[15];
  algorithm
    direction := cat(1,cross({0.0,0.0,1.0},position),cross({0.0,0.0,1.0},velocity),transpose(rotation)*{0.0,0.0,1.0},zeros(6));
  end nullspaceDirection;