LieGroups/SO3/Mrp/shadow.mo

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Documentation: LieGroups.SO3.Mrp.shadow

within LieGroups.SO3.Mrp;
function shadow "MRP shadow transformation: r_s = -r / ||r||^2"
  input Real r[3] "MRP parameters";
  output Real r_s[3] "Shadow MRP parameters";
protected
  Real n_sq;
  constant Real eps = 1e-10;
algorithm
  n_sq := max(r[1]^2 + r[2]^2 + r[3]^2, eps);
  r_s := -r / n_sq;
end shadow;