예제 #1
0
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.'
예제 #2
0
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.')
예제 #3
0
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.'
    )