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Add support for SE2 poses in Collision2D #278

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merged 6 commits into from
Aug 30, 2022
Merged

Add support for SE2 poses in Collision2D #278

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f968fde
Refactored MotionPlanner so that objective can be passed separately.
luisenp Aug 24, 2022
faeb3ae
Changed SE2.xy() to return a Point2 instead of a tensor.
luisenp Aug 25, 2022
f9b79b0
Added support for SE2 in Collision2D.
luisenp Aug 25, 2022
2719173
Minor cleanup in collision jacobians test.
luisenp Aug 26, 2022
8c84a94
Revert notebook changes.
luisenp Aug 26, 2022
d0cba30
SE2.translation is now an alias for SE2.xy().
luisenp Aug 26, 2022
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SE2.translation is now an alias for SE2.xy().
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@luisenp
luisenp committed Aug 30, 2022
commit d0cba3059f6d4856c7f6ce5500ab59e46cc37d6d
4 changes: 2 additions & 2 deletions theseus/geometry/se2.py
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Expand Up @@ -134,7 +134,7 @@ def theta(self, jacobians: Optional[List[torch.Tensor]] = None) -> torch.Tensor:

@property
def translation(self) -> Point2:
return Point2(tensor=self[:, :2])
return self.xy()

def xy(self, jacobians: Optional[List[torch.Tensor]] = None) -> Point2:
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if jacobians is not None:
Expand All @@ -145,7 +145,7 @@ def xy(self, jacobians: Optional[List[torch.Tensor]] = None) -> Point2:
)
J_out[:, :2, :2] = rotation.to_matrix()
jacobians.append(J_out)
return self.translation
return Point2(tensor=self[:, :2])

def update_from_x_y_theta(self, x_y_theta: torch.Tensor):
rotation = SO2(theta=x_y_theta[:, 2:])
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