LieGroups/SE3/Quat/package.mo

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Documentation: LieGroups.SE3.Quat

within LieGroups.SE3;
package Quat "SE(3) with quaternion rotation parameterization"
  annotation(Documentation(info="<html>
    <p>Group element: X = {px, py, pz, qw, qx, qy, qz} (7 params).</p>
    <p>Lie algebra: xi = {vx, vy, vz, omega_x, omega_y, omega_z} (6 params, translation-first).</p>
  </html>"));
end Quat;