symforce.ops.impl.abstract_vector_lie_group_ops module¶
- class AbstractVectorLieGroupOps(*args, **kwds)[source]¶
Bases:
AbstractVectorGroupOps
[ElementT
]An abstract base class for LieGroupOps implementations whose group operation is equivalent to storage representation addition, and whose identity element is the element whose storage representation is the 0 vector.
For a list of abstract methods which child classes must define, see
abstract_storage_ops
.- classmethod storage_D_tangent(a, epsilon)[source]¶
- Parameters:
a (ElementT) –
epsilon (T.Scalar) –
- Return type:
geo.Matrix
- classmethod tangent_D_storage(a, epsilon)[source]¶
- Parameters:
a (ElementT) –
epsilon (T.Scalar) –
- Return type:
geo.Matrix