symforce.ops.impl.class_lie_group_ops module

class ClassLieGroupOps[source]

Bases: ClassGroupOps

static tangent_dim(a)[source]
Parameters:

a (Any | Type)

Return type:

int

static from_tangent(a, vec, epsilon)[source]
Parameters:
Return type:

Any

static to_tangent(a, epsilon)[source]
Parameters:
Return type:

List[float]

static storage_D_tangent(a, epsilon)[source]
Parameters:

  • a (T.Element)

  • epsilon (T.Scalar)

Return type:

geo.Matrix

static tangent_D_storage(a, epsilon)[source]
Parameters:

  • a (T.Element)

  • epsilon (T.Scalar)

Return type:

geo.Matrix

static retract(a, vec, epsilon)[source]
Parameters:
Return type:

Any

static local_coordinates(a, b, epsilon=0.0)[source]
Parameters:
Return type:

List[float]