def get_se2(self, num_rotations, pivot):
"""Get SE2 rotations discretized into num_rotations angles counter-clockwise."""
rvecs = []
for i in range(num_rotations):
theta = i * 2 * np.pi / num_rotations
rmat = utils.get_image_transform(theta, (0, 0), pivot)
rvec = rmat.reshape(-1)[:-1]
rvecs.append(rvec)
return np.array(rvecs, dtype=np.float32)
def get_se2(self, num_rotations, pivot, reverse=False):
'''
Get SE2 rotations discretized into num_rotations angles counter-clockwise.
Returns list (np.array) where each item is a flattened SE2 rotation matrix.
'''
rvecs = []
for i in range(num_rotations):
theta = i * 2 * np.pi / num_rotations
theta = -theta if reverse else theta
rmat = utils.get_image_transform(theta, (0, 0), pivot)
rvec = rmat.reshape(-1)[:-1]
rvecs.append(rvec)
return np.array(rvecs, dtype=np.float32)