sym.ops.rot3.lie_group_ops module¶ class LieGroupOps[source]¶ Bases: object Python LieGroupOps implementation for symforce.geo.rot3.Rot3. static from_tangent(vec, epsilon)[source]¶ Parameters: vec (ndarray) epsilon (float) Return type: Rot3 static to_tangent(a, epsilon)[source]¶ Parameters: a (Rot3) epsilon (float) Return type: ndarray static retract(a, vec, epsilon)[source]¶ Parameters: a (Rot3) vec (ndarray) epsilon (float) Return type: Rot3 static local_coordinates(a, b, epsilon)[source]¶ Parameters: a (Rot3) b (Rot3) epsilon (float) Return type: ndarray static interpolate(a, b, alpha, epsilon)[source]¶ Parameters: a (Rot3) b (Rot3) alpha (float) epsilon (float) Return type: Rot3