def exp(x):
if isinstance(x,se3.Motion): return se3.exp6FromMotion(x)
elif np.isscalar(x): return math.exp(x)
elif isinstance(x,np.matrix):
if len(x)==6: return se3.exp6FromVector(x)
elif len(x)==3: return se3.exp3(x)
else: print 'Error only 3 and 6 vectors are allowed.'
else: print 'Error exp is only defined for real, vector3, vector6 and se3.Motion objects.'
def exp(x):
if isinstance(x, se3.Motion):
return se3.exp6FromMotion(x)
if np.isscalar(x):
return math.exp(x)
if isinstance(x, np.ndarray):
if x.shape == (6, 1):
return se3.exp6FromVector(x)
if x.shape == (3, 1):
return se3.exp3(x)
raise ValueError('Error only 3 and 6 vectors are allowed.')
raise ValueError('Error exp is only defined for real, vector3, vector6 and se3.Motion objects.')
def exp(x):
if isinstance(x, se3.Motion):
return se3.exp6FromMotion(x)
if np.isscalar(x):
return math.exp(x)
if isinstance(x, np.ndarray):
if x.shape == (6, 1):
return se3.exp6FromVector(x)
if x.shape == (3, 1):
return se3.exp3(x)
raise ValueError('Error only 3 and 6 vectors are allowed.')
raise ValueError(
'Error exp is only defined for real, vector3, vector6 and se3.Motion objects.'
)