symforce.ops.impl.dataclass_lie_group_ops module#

class DataclassLieGroupOps[source]#

Bases: DataclassGroupOps

static tangent_dim(a)[source]#
Parameters:

a (Dataclass | Type[Dataclass]) –

Return type:

int

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

Dataclass

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

List[float]

static storage_D_tangent(a)[source]#
Parameters:

a (T.Dataclass) –

Return type:

geo.Matrix

static tangent_D_storage(a)[source]#
Parameters:

a (T.Dataclass) –

Return type:

geo.Matrix

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

Dataclass

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

List[float]