SE2 class
Static methods
Methods
- def act(self, p: numpy.ndarray[numpy.float64[2, 1]], J_out_self: typing.Optional[numpy.ndarray[numpy.float64[2, 3], flags.writeable, flags.c_contiguous]] = None, J_out_p: typing.Optional[numpy.ndarray[numpy.float64[2, 2], flags.writeable, flags.c_contiguous]] = None) -> numpy.ndarray[numpy.float64[2, 1]]
- Get the action of the Lie group object on a point.
- def adj(self, /) -> numpy.ndarray[numpy.float64[3, 3]]
- Return the Adjoint of the Lie group object self.
- def angle(self, /) -> float
- def between(self, other: manifpy._bindings._SE2Base, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_other: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- Return the between of self and another object of the same Lie group.
- def coeffs(self, /) -> numpy.ndarray[numpy.float64[4, 1]]
- Get a reference to underlying data.
- def coeffs_copy(self, /) -> numpy.ndarray[numpy.float64[4, 1]]
- Return a copy of underlying data.
- def compose(self, other: manifpy._bindings._SE2Base, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_other: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- Return the composition of self and another object of the same Lie group.
- def imag(self, /) -> float
- def inverse(self, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- Return the inverse of the Lie group object.
- def isApprox(self, other: manifpy._bindings._SE2Base, eps: float = 1e-10) -> bool
- Evaluate whether self and other are 'close'.
- def lminus(self, other: manifpy._bindings._SE2Base, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_other: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2Tangent
- Left ominus operation of the Lie group.
- def log(self, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2Tangent
- Return the corresponding Lie algebra element in vector form.
- def lplus(self, tau: manifpy._bindings._SE2TangentBase, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_mout_tau: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- Left oplus operation of the Lie group.
- def minus(self, other: manifpy._bindings._SE2Base, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_other: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2Tangent
- An alias for the 'rminus' function.
- def normalize(self, /) -> None
- def plus(self, tau: manifpy._bindings._SE2TangentBase, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_mout_tau: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- An alias for the 'rplus' function.
- def real(self, /) -> float
- def rminus(self, other: manifpy._bindings._SE2Base, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_other: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2Tangent
- Right ominus operation of the Lie group.
- def rotation(self, /) -> numpy.ndarray[numpy.float64[2, 2]]
- def rplus(self, tau: manifpy._bindings._SE2TangentBase, J_out_self: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None, J_out_tau: typing.Optional[numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.c_contiguous]] = None) -> SE2
- Right oplus operation of the Lie group.
- def setIdentity(self, /) -> SE2
- Set self to the Lie group Identity.
- def setRandom(self, /) -> SE2
- Set self to a random value.
- def transform(self, /) -> numpy.ndarray[numpy.float64[3, 3]]
- def translation(self, /) -> numpy.ndarray[numpy.float64[2, 1]]
- def x(self, /) -> float
- def y(self, /) -> float
Special methods
- def __add__(self, arg0: SE2Tangent, /) -> SE2
- Operator overload for the 'plus' function.
- def __eq__(self, arg0: SE2, /) -> bool
- Operator overload for the 'isApprox' function.
- def __init__(self, arg0: float, arg1: float, arg2: float, /) -> None
- def __init__(self, arg0: float, arg1: float, arg2: float, arg3: float, /) -> None
- def __init__(self, arg0: float, arg1: float, arg2: complex, /) -> None
- def __init__(self, arg0: numpy.ndarray[numpy.float64[2, 1]], arg1: complex, /) -> None
- def __init__(self, /) -> None
- Default constructor, uninitialized data.
- def __init__(self, arg0: numpy.ndarray[numpy.float64[4, 1]], /) -> None
- Constructor given data vector.
- def __mul__(self, arg0: SE2, /) -> SE2
- Operator overload for the 'compose' function.
- def __str__(self, /) -> str
- def __sub__(self, arg0: SE2, /) -> SE2Tangent
- Operator overload for the 'minus' function.
Data
Method documentation
def manifpy.
Get the action of the Lie group object on a point.
Parameters ---------- p : numpy.array A point. J_out_self [out] : numpy.ndarray Jacobian of the new object wrt self. J_out_p [out] : numpy.ndarray Jacobian of the new object wrt input point.
def manifpy.
Return the Adjoint of the Lie group object self.
See Eq. (29).
def manifpy.
Return the between of self and another object of the same Lie group.
Parameters ---------- other : Lie group Another object of the same Lie group. J_out_self [out] : numpy.ndarray Jacobian of the composition wrt self. J_out_other [out] : numpy.ndarray Jacobian of the composition wrt other.
def manifpy.
Return the composition of self and another object of the same Lie group.
See Eqs. (1,2,3,4).
Parameters ---------- other : Lie group Another object of the same Lie group. J_out_self [out] : numpy.ndarray Jacobian of the composition wrt self. J_out_other [out] : numpy.ndarray Jacobian of the composition wrt other.
def manifpy.
Return the inverse of the Lie group object.
See Eq. (3).
Parameters ---------- J_out_self [out] : numpy.ndarray Jacobian of the inverse wrt self.
def manifpy.
Evaluate whether self and other are 'close'.
Parameters ---------- other : Lie group Another object of the same Lie group. eps : double Threshold for equality comparison. Default: 1e-10.
def manifpy.
Left ominus operation of the Lie group.
See Eq. (28).
Parameters ---------- other : Lie group Another element of the same Lie group. J_out_self [out] : numpy.ndarray Jacobian of the ominus operation wrt self. J_out_other [out] : numpy.ndarray Jacobian of the ominus operation wrt other.
def manifpy.
Return the corresponding Lie algebra element in vector form.
Eq. (24).
Parameters ---------- J_out_self [out] : numpy.ndarray Jacobian of the log wrt self.
def manifpy.
Left oplus operation of the Lie group.
See Eq. (27).
Parameters ---------- tau : Lie group tangent An element of the tangent of the Lie group. J_out_self [out] : numpy.ndarray Jacobian of the oplus operation wrt self. J_out_tau [out] : numpy.ndarray Jacobian of the oplus operation wrt tau.
def manifpy.
Right ominus operation of the Lie group.
See Eq. (26).
Parameters ---------- other : Lie group Another element of the same Lie group. J_out_self [out] : numpy.ndarray Jacobian of the ominus operation wrt self. J_out_other [out] : numpy.ndarray Jacobian of the ominus operation wrt other.
def manifpy.
Right oplus operation of the Lie group.
See Eq. (25).
Parameters ---------- tau : Lie group tangent An element of the tangent of the Lie group. J_out_self [out] : numpy.ndarray Jacobian of the oplus operation wrt self. J_out_tau [out] : numpy.ndarray Jacobian of the oplus operation wrt tau.