Python SE2.inv_left_jacobian Examples

Example #1

File: test_se2_torch.py Project: mttgdd/liegroups

def test_left_jacobian():
    xi1 = torch.Tensor([1, 2, 3])
    assert utils.allclose(
        torch.mm(SE2.left_jacobian(xi1), SE2.inv_left_jacobian(xi1)),
        torch.eye(3))

    xi2 = torch.Tensor([0, 0, 0])
    assert utils.allclose(
        torch.mm(SE2.left_jacobian(xi2), SE2.inv_left_jacobian(xi2)),
        torch.eye(3))

Example #2

File: test_se2_torch.py Project: mttgdd/liegroups

def test_left_jacobian_batch():
    xis = torch.Tensor([[1, 2, 3], [0, 0, 0]])
    assert utils.allclose(
        SE2.left_jacobian(xis).bmm(SE2.inv_left_jacobian(xis)),
        torch.eye(3).unsqueeze_(dim=0).expand(2, 3, 3))