symforce.geo package¶
Package for symbolic geometric types using the Sympy API, focused on 2D and 3D transforms for use in robotics and optimization.
Implements strict notions of Storage types, Group types, and LieGroup types.
The design of these concepts is similar to those in GTSAM and Sophus:
Subpackages¶
Submodules¶
- symforce.geo.complex module
- symforce.geo.dual_quaternion module
- symforce.geo.matrix module
MatrixMatrixTSHAPE__new__()rowscolsshapeis_Matrixstorage_dim()from_storage()to_storage()tangent_dim()from_tangent()to_tangent()storage_D_tangent()tangent_D_storage()zero()zeros()one()ones()diag()eye()det()inv()symbolic()row_join()col_join()block_matrix()simplify()limit()jacobian()diff()Ttranspose()lower_triangle()Trianglesymmetric_copy()reshape()dot()cross()squared_norm()norm()normalized()clamp_norm()multiply_elementwise()applyfunc()__getitem__()row()col()__neg__()__add__()__sub__()__mul__()__rmul__()__truediv__()compute_AtA()LU()LDL()FFLU()FFLDU()solve()are_parallel()skew_symmetric()evalf()to_list()to_flat_list()from_flat_list()to_numpy()column_stack()is_vector()init_printing()
Matrix11Matrix21Matrix31Matrix41Matrix51Matrix61Matrix71Matrix81Matrix91Matrix12Matrix22Matrix32Matrix42Matrix52Matrix62Matrix72Matrix82Matrix92Matrix13Matrix23Matrix33Matrix43Matrix53Matrix63Matrix73Matrix83Matrix93Matrix14Matrix24Matrix34Matrix44Matrix54Matrix64Matrix74Matrix84Matrix94Matrix15Matrix25Matrix35Matrix45Matrix55Matrix65Matrix75Matrix85Matrix95Matrix16Matrix26Matrix36Matrix46Matrix56Matrix66Matrix76Matrix86Matrix96Matrix17Matrix27Matrix37Matrix47Matrix57Matrix67Matrix77Matrix87Matrix97Matrix18Matrix28Matrix38Matrix48Matrix58Matrix68Matrix78Matrix88Matrix98Matrix19Matrix29Matrix39Matrix49Matrix59Matrix69Matrix79Matrix89Matrix99mmatrix_type_from_shape()MVector1Vector2Vector3Vector4Vector5Vector6Vector7Vector8Vector9V1V2V3V4V5V6V7V8V9M11M21M31M41M51M61M71M81M91M12M22M32M42M52M62M72M82M92M13M23M33M43M53M63M73M83M93M14M24M34M44M54M64M74M84M94M15M25M35M45M55M65M75M85M95M16M26M36M46M56M66M76M86M96M17M27M37M47M57M67M77M87M97M18M28M38M48M58M68M78M88M98M19M29M39M49M59M69M79M89M99I1()I11()I2()I22()I3()I33()I4()I44()I5()I55()I6()I66()I7()I77()I8()I88()I9()I99()
- symforce.geo.pose2 module
- symforce.geo.pose3 module
- symforce.geo.quaternion module
- symforce.geo.rot2 module
- symforce.geo.rot3 module
Rot3storage_dim()to_storage()from_storage()symbolic()identity()compose()inverse()tangent_dim()from_tangent()to_tangent()hat()storage_D_tangent()tangent_D_storage()__mul__()to_tangent_norm()to_rotation_matrix()from_rotation_matrix()to_yaw_pitch_roll()from_yaw_pitch_roll()from_angle_axis()from_two_unit_vectors()angle_between()random()random_from_uniform_samples()
- symforce.geo.unit3 module
Unit3E_XE_ZFLIP_Ystorage_dim()to_storage()from_storage()symbolic()identity()compose()inverse()tangent_dim()from_tangent()to_tangent()storage_D_tangent()tangent_D_storage()retract()local_coordinates()to_unit_vector()basis()from_vector()from_unit_vector()random()random_from_uniform_samples()