LieGroups/SE23/Generic/rightInvariantError.mo

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Documentation: LieGroups.SE23.Generic.rightInvariantError

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