LieGroups/SE23/Generic/log_map.mo

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Documentation: LieGroups.SE23.Generic.log_map

within LieGroups.SE23.Generic;
function log_map "SE_2(3) logarithmic map"
  input Element element;
  output Real tangent[9];
protected
  Real inverseJ[3, 3];
algorithm
  tangent[7:9] := Rotation.log_map(element.rotation);
  inverseJ := LieGroups.SO3.Quat.left_jacobian_inv(tangent[7:9]);
  tangent[1:3] := inverseJ * element.position;
  tangent[4:6] := inverseJ * element.velocity;
end log_map;