symforce.ops.impl.class_lie_group_ops module

class ClassLieGroupOps

Bases: ClassGroupOps

static tangent_dim(a)

Parameters:

a (Any | Type) –

Return type:

int

static from_tangent(a, vec, epsilon)

Parameters:

• a (Any | Type) –

• vec (List[float]) –

• epsilon (float) –

Return type:

Any

static to_tangent(a, epsilon)

Parameters:

• a (Any) –

• epsilon (float) –

Return type:

List[float]

static storage_D_tangent(a, epsilon)

Parameters:

• a (T.Element) –

• epsilon (T.Scalar) –

Return type:

geo.Matrix

static tangent_D_storage(a, epsilon)

Parameters:

• a (T.Element) –

• epsilon (T.Scalar) –

Return type:

geo.Matrix

static retract(a, vec, epsilon)

Parameters:

• a (Any) –

• vec (Sequence[float]) –

• epsilon (float) –

Return type:

Any

static local_coordinates(a, b, epsilon=0.0)

Parameters:

• a (Any) –

• b (Any) –

• epsilon (float) –

Return type:

List[float]