def log(x):
if isinstance(x,se3.SE3): return se3.log6FromSE3(x)
elif np.isscalar(x): return math.log(x)
elif isinstance(x,np.matrix):
if len(x)==4: return se3.log6FromMatrix(x)
elif len(x)==3: return se3.log3(x)
else: print 'Error only 3 and 4 matrices are allowed.'
else: print 'Error log is only defined for real, matrix3, matrix4 and se3.SE3 objects.'
def log(x):
if isinstance(x, se3.SE3):
return se3.log6FromSE3(x)
if np.isscalar(x):
return math.log(x)
if isinstance(x, np.ndarray):
if len(x) == 4:
return se3.log6FromMatrix(x)
if len(x) == 3:
return se3.log3(x)
raise ValueError('Error only 3 and 4 matrices are allowed.')
raise ValueError('Error log is only defined for real, matrix3, matrix4 and se3.SE3 objects.')
def log(x):
if isinstance(x, se3.SE3):
return se3.log6FromSE3(x)
if np.isscalar(x):
return math.log(x)
if isinstance(x, np.ndarray):
if len(x) == 4:
return se3.log6FromMatrix(x)
if len(x) == 3:
return se3.log3(x)
raise ValueError('Error only 3 and 4 matrices are allowed.')
raise ValueError(
'Error log is only defined for real, matrix3, matrix4 and se3.SE3 objects.'
)
