symforce.jacobian_helpers module¶
- tangent_jacobians(expr, args)[source]¶
Compute jacobians of expr, a Lie Group element which is a function of the Lie Group elements in args. Jacobians are derivatives in the tangent space of expr with respect to changes in the tangent space of the arg, as opposed to jacobians of the storage of either which could be trivially computed with sf.Matrix.jacobian or sf.Expr.diff
- Parameters:
expr (
Any
) – The final expression that should be differentiatedargs (
Sequence
[Any
]) – Sequence of variables (can be Lie Group elements) to differentiate with respect to
- Return type:
List
[Matrix
]- Returns:
The jacobian expr_D_arg for each arg in args, where each expr_D_arg is of shape MxN, with M the tangent space dimension of expr and N the tangent space dimension of arg