def __init__(self, b1, b2):
"""
b1 = [ [xmin, xmax], [ymin, ymax] , [ ... ]]
"""
self.n = len(b1)
self.b1 = b1
self.b2 = b2
SymbolicDiffeo.__init__(self, 'plane')
def __init__(self, chain):
self.chain = chain
# TODO: check same topology
topos = [x.topology_s for x in chain]
if len(set(topos)) > 1:
msg = 'Incompatible topologies for %s: %s' % (chain, topos)
raise ValueError(msg)
SymbolicDiffeo.__init__(self, topos[0])
def __init__(self, b1, b2):
"""
b1 = [ [xmin, xmax], [ymin, ymax] , [ ... ]]
"""
self.n = len(b1)
self.b1 = b1
self.b2 = b2
SymbolicDiffeo.__init__(self, 'plane')
def __init__(self, chain):
self.chain = chain
# TODO: check same topology
topos = [x.topology_s for x in chain]
if len(set(topos)) > 1:
msg = 'Incompatible topologies for %s: %s' % (chain, topos)
raise ValueError(msg)
SymbolicDiffeo.__init__(self, topos[0])
def __init__(self, lvel, avel, topology='plane', interval=1):
'''
:param lvel: Instantaneous linear velocity
:param avel: Instantaneous angular velocity
:param topology: Topology of the domain (plane/torus)
:param interval: Length of motion.
'''
self.topology_s = topology
SymbolicDiffeo.__init__(self, topology)
self.lvel = np.asarray(lvel)
self.avel = float(avel)
self.interval = interval
self.v = se2.algebra_from_velocities(avel=self.avel, lvel=self.lvel)
self.q = SE2.group_from_algebra(self.v)
self.R, self.t = geometry.rotation_translation_from_SE2(self.q)
def __init__(self, lvel, avel, topology='plane', interval=1):
'''
:param lvel: Instantaneous linear velocity
:param avel: Instantaneous angular velocity
:param topology: Topology of the domain (plane/torus)
:param interval: Length of motion.
'''
self.topology_s = topology
SymbolicDiffeo.__init__(self, topology)
self.lvel = np.asarray(lvel)
self.avel = float(avel)
self.interval = interval
self.v = se2.algebra_from_velocities(avel=self.avel, lvel=self.lvel)
self.q = SE2.group_from_algebra(self.v)
self.R, self.t = geometry.rotation_translation_from_SE2(self.q)
def __init__(self, topology, function, inverse):
self.topology_s = topology
SymbolicDiffeo.__init__(self, topology)
self.function = function
self.inverse = inverse
def __init__(self):
SymbolicDiffeo.__init__(self, Topology.PLANE)
def __init__(self):
SymbolicDiffeo.__init__(self, Topology.PLANE)
