liegroups
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utiasSTARS
Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch
This assertion fails. ``` import numpy as np from liegroups import SO3 s = SO3.from_rpy(np.pi, 0, np.pi/2) es = SO3.exp(s.log()) assert np.allclose(s.mat, es.mat) ```
Hello, In the `so3.log` function https://github.com/utiasSTARS/liegroups/blob/fe1d376b7d33809dec78724b456f01833507c305/liegroups/numpy/so3.py#L205 There's a division by `np.sin(angle)` but there isn't a check to see if `angle` is `+np.pi` or `-np.pi`. I understand that due to numerical...
When using the `liegroups` lib I run into the following `SyntaxWarning` when using the `so3.py` file ```bash liegroups/numpy/so3.py:83: SyntaxWarning: "is" with a literal. Did you mean "=="? elif ordering is...
The class methods in so3 use `torch.eye`. However, the `mat` might be in `cuda`. Thus, the `torch.eye` should move to `cuda` if `mat` is on `cuda`.
Implemented the SE(2) group jacobian (and inverse) in numpy and torch. These did not seem to be covered in Barfoot and so the reference for the solution implemented in this...
The class methods in so3 creates new matrices (eye etc.) without taking the device selection taking into account. This patch should fix this by setting the right device directly while...
Hi, thank you for professional Liegroup package. I can get different results when trying left multiply disturbance by two ways : T : a 4x4 transition numpy array delta_t=np.array([1,0,0,0,0,0]) #liealgebra...
Hi, first of all thanks for your work. My problem is linked to transformation of SE3 matrix to xi vector and vice versa. This code section below is a test...
HI thanks for your release. recently when i use liegroups, here appears an strange error. AttributeError: Can't get attribute 'SO3' on do you have any idea about this problem?
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Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch