LieGroups/SE23/Generic/leftInvariantError.mo

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Documentation: LieGroups.SE23.Generic.leftInvariantError

within LieGroups.SE23.Generic;
function leftInvariantError
  "Log(reference^(-1) actual), a local error coordinate for analysis"
  input Element reference;
  input Element actual;
  output Real tangent[9];
algorithm
  tangent := log_map(product(inverse(reference), actual));
end leftInvariantError;