def setUp(self): self.theta = sympy.symbols( 'theta', real=True) x, y = sympy.symbols('x y', real=True) p0, p1 = sympy.symbols('p0 p1', real=True) self.a = So2(sophus.Complex(x, y)) self.p = sophus.Vector2(p0, p1)
def setUp(self): upsilon0, upsilon1, theta = sympy.symbols( 'upsilon[0], upsilon[1], theta', real=True) x, y = sympy.symbols('c[0] c[1]', real=True) p0, p1 = sympy.symbols('p0 p1', real=True) t0, t1 = sympy.symbols('t[0] t[1]', real=True) self.upsilon_theta = sophus.Vector3(upsilon0, upsilon1, theta) self.t = sophus.Vector2(t0, t1) self.a = Se2(sophus.So2(sophus.Complex(x, y)), self.t) self.p = sophus.Vector2(p0, p1)
def exp(theta): """ exponential map """ return So2( sophus.Complex( sympy.cos(theta), sympy.sin(theta)))