symforce.ops.impl.dataclass_lie_group_ops module

class DataclassLieGroupOps

Bases: DataclassGroupOps

static tangent_dim(a)

Parameters:

a (Dataclass | Type[Dataclass]) –

Return type:

int

static from_tangent(a, vec, epsilon)

Parameters:

• a (Dataclass | Type[Dataclass]) –

• vec (Sequence[float]) –

• epsilon (float) –

Return type:

Dataclass

static to_tangent(a, epsilon)

Parameters:

• a (Dataclass) –

• epsilon (float) –

Return type:

List[float]

static storage_D_tangent(a, epsilon)

Parameters:

• a (T.Dataclass) –

• epsilon (T.Scalar) –

Return type:

geo.Matrix

static tangent_D_storage(a, epsilon)

Parameters:

• a (T.Dataclass) –

• epsilon (T.Scalar) –

Return type:

geo.Matrix

static retract(a, vec, epsilon)

Parameters:

• a (Dataclass) –

• vec (Sequence[float]) –

• epsilon (float) –

Return type:

Dataclass

static local_coordinates(a, b, epsilon)

Parameters:

• a (Dataclass) –

• b (Dataclass) –

• epsilon (float) –

Return type:

List[float]