# -----------------------------------------------------------------------------
# This file was autogenerated by symforce from template:
# ops/CLASS/group_ops.py.jinja
# Do NOT modify by hand.
# -----------------------------------------------------------------------------
# ruff: noqa: PLR0915, F401, PLW0211, PLR0914
from __future__ import annotations
import math
import typing as T
import numpy
import sym
[docs]class GroupOps(object):
"""
Python GroupOps implementation for :py:class:`symforce.cam.atan_camera_cal.ATANCameraCal`.
"""
[docs] @staticmethod
def identity() -> sym.ATANCameraCal:
# Total ops: 0
# Input arrays
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage([0, 0, 0, 0, 0])
return _res
[docs] @staticmethod
def inverse(a: sym.ATANCameraCal) -> sym.ATANCameraCal:
# Total ops: 5
# Input arrays
_a = a.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage([-_a[0], -_a[1], -_a[2], -_a[3], -_a[4]])
return _res
[docs] @staticmethod
def compose(a: sym.ATANCameraCal, b: sym.ATANCameraCal) -> sym.ATANCameraCal:
# Total ops: 5
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage(
[_a[0] + _b[0], _a[1] + _b[1], _a[2] + _b[2], _a[3] + _b[3], _a[4] + _b[4]]
)
return _res
[docs] @staticmethod
def between(a: sym.ATANCameraCal, b: sym.ATANCameraCal) -> sym.ATANCameraCal:
# Total ops: 5
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage(
[-_a[0] + _b[0], -_a[1] + _b[1], -_a[2] + _b[2], -_a[3] + _b[3], -_a[4] + _b[4]]
)
return _res
[docs] @staticmethod
def inverse_with_jacobian(a: sym.ATANCameraCal) -> tuple[sym.ATANCameraCal, numpy.ndarray]:
# Total ops: 5
# Input arrays
_a = a.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage([-_a[0], -_a[1], -_a[2], -_a[3], -_a[4]])
_res_D_a = numpy.zeros((5, 5))
_res_D_a[0, 0] = -1
_res_D_a[1, 0] = 0
_res_D_a[2, 0] = 0
_res_D_a[3, 0] = 0
_res_D_a[4, 0] = 0
_res_D_a[0, 1] = 0
_res_D_a[1, 1] = -1
_res_D_a[2, 1] = 0
_res_D_a[3, 1] = 0
_res_D_a[4, 1] = 0
_res_D_a[0, 2] = 0
_res_D_a[1, 2] = 0
_res_D_a[2, 2] = -1
_res_D_a[3, 2] = 0
_res_D_a[4, 2] = 0
_res_D_a[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = -1
_res_D_a[4, 3] = 0
_res_D_a[0, 4] = 0
_res_D_a[1, 4] = 0
_res_D_a[2, 4] = 0
_res_D_a[3, 4] = 0
_res_D_a[4, 4] = -1
return _res, _res_D_a
[docs] @staticmethod
def compose_with_jacobians(
a: sym.ATANCameraCal, b: sym.ATANCameraCal
) -> tuple[sym.ATANCameraCal, numpy.ndarray, numpy.ndarray]:
# Total ops: 5
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage(
[_a[0] + _b[0], _a[1] + _b[1], _a[2] + _b[2], _a[3] + _b[3], _a[4] + _b[4]]
)
_res_D_a = numpy.zeros((5, 5))
_res_D_a[0, 0] = 1
_res_D_a[1, 0] = 0
_res_D_a[2, 0] = 0
_res_D_a[3, 0] = 0
_res_D_a[4, 0] = 0
_res_D_a[0, 1] = 0
_res_D_a[1, 1] = 1
_res_D_a[2, 1] = 0
_res_D_a[3, 1] = 0
_res_D_a[4, 1] = 0
_res_D_a[0, 2] = 0
_res_D_a[1, 2] = 0
_res_D_a[2, 2] = 1
_res_D_a[3, 2] = 0
_res_D_a[4, 2] = 0
_res_D_a[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = 1
_res_D_a[4, 3] = 0
_res_D_a[0, 4] = 0
_res_D_a[1, 4] = 0
_res_D_a[2, 4] = 0
_res_D_a[3, 4] = 0
_res_D_a[4, 4] = 1
_res_D_b = numpy.zeros((5, 5))
_res_D_b[0, 0] = 1
_res_D_b[1, 0] = 0
_res_D_b[2, 0] = 0
_res_D_b[3, 0] = 0
_res_D_b[4, 0] = 0
_res_D_b[0, 1] = 0
_res_D_b[1, 1] = 1
_res_D_b[2, 1] = 0
_res_D_b[3, 1] = 0
_res_D_b[4, 1] = 0
_res_D_b[0, 2] = 0
_res_D_b[1, 2] = 0
_res_D_b[2, 2] = 1
_res_D_b[3, 2] = 0
_res_D_b[4, 2] = 0
_res_D_b[0, 3] = 0
_res_D_b[1, 3] = 0
_res_D_b[2, 3] = 0
_res_D_b[3, 3] = 1
_res_D_b[4, 3] = 0
_res_D_b[0, 4] = 0
_res_D_b[1, 4] = 0
_res_D_b[2, 4] = 0
_res_D_b[3, 4] = 0
_res_D_b[4, 4] = 1
return _res, _res_D_a, _res_D_b
[docs] @staticmethod
def between_with_jacobians(
a: sym.ATANCameraCal, b: sym.ATANCameraCal
) -> tuple[sym.ATANCameraCal, numpy.ndarray, numpy.ndarray]:
# Total ops: 5
# Input arrays
_a = a.data
_b = b.data
# Intermediate terms (0)
# Output terms
_res = sym.ATANCameraCal.from_storage(
[-_a[0] + _b[0], -_a[1] + _b[1], -_a[2] + _b[2], -_a[3] + _b[3], -_a[4] + _b[4]]
)
_res_D_a = numpy.zeros((5, 5))
_res_D_a[0, 0] = -1
_res_D_a[1, 0] = 0
_res_D_a[2, 0] = 0
_res_D_a[3, 0] = 0
_res_D_a[4, 0] = 0
_res_D_a[0, 1] = 0
_res_D_a[1, 1] = -1
_res_D_a[2, 1] = 0
_res_D_a[3, 1] = 0
_res_D_a[4, 1] = 0
_res_D_a[0, 2] = 0
_res_D_a[1, 2] = 0
_res_D_a[2, 2] = -1
_res_D_a[3, 2] = 0
_res_D_a[4, 2] = 0
_res_D_a[0, 3] = 0
_res_D_a[1, 3] = 0
_res_D_a[2, 3] = 0
_res_D_a[3, 3] = -1
_res_D_a[4, 3] = 0
_res_D_a[0, 4] = 0
_res_D_a[1, 4] = 0
_res_D_a[2, 4] = 0
_res_D_a[3, 4] = 0
_res_D_a[4, 4] = -1
_res_D_b = numpy.zeros((5, 5))
_res_D_b[0, 0] = 1
_res_D_b[1, 0] = 0
_res_D_b[2, 0] = 0
_res_D_b[3, 0] = 0
_res_D_b[4, 0] = 0
_res_D_b[0, 1] = 0
_res_D_b[1, 1] = 1
_res_D_b[2, 1] = 0
_res_D_b[3, 1] = 0
_res_D_b[4, 1] = 0
_res_D_b[0, 2] = 0
_res_D_b[1, 2] = 0
_res_D_b[2, 2] = 1
_res_D_b[3, 2] = 0
_res_D_b[4, 2] = 0
_res_D_b[0, 3] = 0
_res_D_b[1, 3] = 0
_res_D_b[2, 3] = 0
_res_D_b[3, 3] = 1
_res_D_b[4, 3] = 0
_res_D_b[0, 4] = 0
_res_D_b[1, 4] = 0
_res_D_b[2, 4] = 0
_res_D_b[3, 4] = 0
_res_D_b[4, 4] = 1
return _res, _res_D_a, _res_D_b