sym.ops.pose2.lie_group_ops module¶ class LieGroupOps[source]¶ Bases: object Python LieGroupOps implementation for symforce.geo.pose2.Pose2. static from_tangent(vec, epsilon)[source]¶ Parameters: vec (ndarray) epsilon (float) Return type: Pose2 static to_tangent(a, epsilon)[source]¶ Parameters: a (Pose2) epsilon (float) Return type: ndarray static retract(a, vec, epsilon)[source]¶ Parameters: a (Pose2) vec (ndarray) epsilon (float) Return type: Pose2 static local_coordinates(a, b, epsilon)[source]¶ Parameters: a (Pose2) b (Pose2) epsilon (float) Return type: ndarray static interpolate(a, b, alpha, epsilon)[source]¶ Parameters: a (Pose2) b (Pose2) alpha (float) epsilon (float) Return type: Pose2