sym.ops.pose3.lie_group_ops module¶ class LieGroupOps[source]¶ Bases: object Python LieGroupOps implementation for symforce.geo.pose3.Pose3. static from_tangent(vec, epsilon)[source]¶ Parameters: vec (ndarray) – epsilon (float) – Return type: Pose3 static to_tangent(a, epsilon)[source]¶ Parameters: a (Pose3) – epsilon (float) – Return type: ndarray static retract(a, vec, epsilon)[source]¶ Parameters: a (Pose3) – vec (ndarray) – epsilon (float) – Return type: Pose3 static local_coordinates(a, b, epsilon)[source]¶ Parameters: a (Pose3) – b (Pose3) – epsilon (float) – Return type: ndarray static interpolate(a, b, alpha, epsilon)[source]¶ Parameters: a (Pose3) – b (Pose3) – alpha (float) – epsilon (float) – Return type: Pose3