def velocity_from_poses(t1: float, q1: SE2v, t2: float, q2: SE2v) -> se2v:
delta = t2 - t1
if not delta > 0:
raise ValueError('invalid sequence')
x = SE2.multiply(SE2.inverse(q1), q2)
xt = SE2.algebra_from_group(x)
v = xt / delta
return v
def velocity_from_poses(t1: float, q1: SE2value, t2: float,
q2: SE2value) -> SE2value:
delta = t2 - t1
if not delta > 0:
msg = f"invalid delta {delta}"
raise ValueError(msg)
x = SE2.multiply(SE2.inverse(q1), q2)
xt = SE2.algebra_from_group(x)
v = xt / delta
return v