LieGroups/SO3/EulerB321/left_jacobian.mo

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Documentation: LieGroups.SO3.EulerB321.left_jacobian

within LieGroups.SO3.EulerB321;
function left_jacobian "Map spatial angular velocity to B321 Euler rates"
  input Real element[3];
  output Real J[3, 3];
algorithm
  J := LieGroups.SO3.EulerB321.right_jacobian(element)
    * LieGroups.SO3.EulerB321.to_DCM(element);
end left_jacobian;