Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add multi-batch support for SE(3) unary operators #512

Merged
merged 14 commits into from
May 4, 2023
Merged

Add multi-batch support for SE(3) unary operators #512

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
0303a18
Add multi-batch SE3.rand(), SE3.randn() and SE3.identity()
fantaosha May 3, 2023
92cd9cf
Added multi-batch SE3.exp()
fantaosha May 3, 2023
2bb456e
refactor the code with size + (1,) -> *size, 1
fantaosha May 3, 2023
4d88c9f
refactor multi-batch SE3.Adjoint()
fantaosha May 3, 2023
765c84f
Add multi-batch SE3.hat()
fantaosha May 3, 2023
e2deea3
fixed a bug in SO3.normalize()
fantaosha May 3, 2023
e4c4be1
size + (3, 3) -> *size, 3, 3
fantaosha May 4, 2023
2873600
a minor refactor of the code
fantaosha May 4, 2023
8aa423e
added SO3._jlog_impl_helper()
fantaosha May 4, 2023
0c7f1da
impleted and tested multi-batch SE3.log()
fantaosha May 4, 2023
60bbe34
implemented and tested multi-batch SE3.inverse()
fantaosha May 4, 2023
289fa84
implemented and tested multi-batch SE3.vee()
fantaosha May 4, 2023
cdf2b93
tensor.new_ones() -> constant
fantaosha May 4, 2023
44b2323
replace tensors with constants
fantaosha May 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions theseus/labs/lie/functional/constants.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,14 @@ def __getitem__(self, dtype):
return self.float64_eps


_NON_ZERO = 1.0

_INF = torch.inf

_NEAR_ZERO_D_ONE_MINUS_COSINE_BY_THETA2 = -1 / 12.0

_NEAR_ZERO_D_THETA_MINUS_SINE_BY_THETA3 = -1 / 60.0

_SO2_NORMALIZATION_EPS = EPSDict(float32_eps=1e-12, float64_eps=1e-12)

_SO2_MATRIX_EPS = EPSDict(float32_eps=1e-5, float64_eps=4e-7)
Expand Down
Loading