symforce.ops.impl.abstract_vector_lie_group_ops module

class AbstractVectorLieGroupOps(*args, **kwds)

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 tangent_dim(a)

Parameters:

a (ElementT | Type[ElementT]) –

Return type:

int

classmethod from_tangent(a, vec, epsilon)

Parameters:

• a (ElementT | Type[ElementT]) –

• vec (Sequence[float]) –

• epsilon (float) –

Return type:

ElementT

classmethod to_tangent(a, epsilon)

Parameters:

• a (ElementT) –

• epsilon (float) –

Return type:

List[float]

classmethod storage_D_tangent(a)

Parameters:

a (ElementT) –

Return type:

geo.Matrix

classmethod tangent_D_storage(a)

Parameters:

a (ElementT) –

Return type:

geo.Matrix

classmethod retract(a, vec, epsilon)

Parameters:

• a (ElementT) –

• vec (Sequence[float]) –

• epsilon (float) –

Return type:

ElementT

classmethod local_coordinates(a, b, epsilon)

Parameters:

• a (ElementT) –

• b (ElementT) –

• epsilon (float) –

Return type:

List[float]