symforce.geo.rot2 module¶
- class Rot2(z=None)[source]¶
Bases:
LieGroup
Group of two-dimensional orthogonal matrices with determinant +1, representing rotations in 2D space. Backed by a complex number.
- Parameters:
z (
Optional
[Complex
]) –
- __init__(z=None)[source]¶
Construct from a unit complex number, or identity if none provided.
- Parameters:
z (Complex) –
- to_storage()[source]¶
Flat list representation of the underlying storage, length of STORAGE_DIM. This is used purely for plumbing, it is NOT like a tangent space.
- Return type:
List
[float
]
- classmethod from_storage(vec)[source]¶
Construct from a flat list representation. Opposite of .to_storage().
- Parameters:
vec (
Sequence
[float
]) –- Return type:
- classmethod symbolic(name, **kwargs)[source]¶
Construct a symbolic element with the given name prefix. Kwargs are forwarded to sf.Symbol (for example, sympy assumptions).
- Parameters:
name (
str
) –kwargs (
Any
) –
- Return type:
- classmethod from_tangent(v, epsilon=0.0)[source]¶
Mapping from the tangent space vector about identity into a group element.
- Parameters:
v (
Sequence
[float
]) –epsilon (
float
) –
- Return type:
- to_tangent(epsilon=0.0)[source]¶
Mapping from this element to the tangent space vector about identity.
- Parameters:
epsilon (
float
) –- Return type:
List
[float
]
- storage_D_tangent()[source]¶
Note: generated from symforce/notebooks/storage_D_tangent.ipynb
- Return type:
- tangent_D_storage()[source]¶
Note: generated from symforce/notebooks/tangent_D_storage.ipynb
- Return type:
- classmethod from_angle(theta)[source]¶
Create a Rot2 from an angle theta in radians
This is equivalent to from_tangent([theta])
- Parameters:
theta (
float
) –- Return type: