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add SE3.transform_from and SE3.transform_to #80

Merged
merged 23 commits into from
Feb 10, 2022
Merged

add SE3.transform_from and SE3.transform_to #80

merged 23 commits into from
Feb 10, 2022

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fantaosha
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@fantaosha fantaosha commented Feb 10, 2022 •
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Motivation and Context

This is a copy of #73

How Has This Been Tested

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@fantaosha
add SE3 defintions
7fa60c5
@fantaosha
add initialization method
67e77b4
@fantaosha
modify test_so3.check_SO3_to_quaternion to handle cases near pi
e72ab40
@fantaosha
add SE3.hat and SE.vee
fe05db4
@fantaosha
add SE3.adjoint
1ae2dea
@fantaosha
add SE3.adjoint, vee and hat
f8cf872
@fantaosha
backup before switching to taoshaf.add_SE3
e5de005
@fantaosha
add support for single x_y_z_quaternion
23292d4
@fantaosha
modify SO3
b4c1738
@fantaosha
Remove repeated if in SE3 construction
ae9e845
@fantaosha
SE3.exp added but not tested
19d787d
@fantaosha
add SE3.log_map()
8a6f88e
@fantaosha
SE3.exp_map() and SE3.log_map() are tested
87c5f82
@fantaosha
add SE3.compose()
2c1b729
@fantaosha
simplify test_se3.py
107c55e
@fantaosha
Merge branch 'taoshaf.add_se3.exp_and_log' into taoshaf.add_se3_compose
2486e54
@fantaosha
modify test_se3.py
3a65b2e
@fantaosha
add SE3.transform_from and SE3.transform_to
0548508
@fantaosha
add SE3.transform_from and SE3.transform_to
19419f8
@fantaosha
change err_msgs for SO3._rotate_shape_check and SE3._rotate_shape_check
e4abe1b
@fantaosha
change error message for SO3._rotate_shape_check and SE3._transform_s…
6c71afc 
…hape_check
@fantaosha
update err_msg for shape_check
01db55e
@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Feb 10, 2022
@fantaosha fantaosha changed the title Copy of #73 add SE3.transform_from and SE3.transform_to Feb 10, 2022
@fantaosha fantaosha merged commit 50dab77 into main Feb 10, 2022
@fantaosha fantaosha deleted the taoshaf.add_SE3.transfrom branch February 10, 2022 03:56
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@fantaosha
add SE3.transform_from and SE3.transform_to (facebookresearch#80)
8e6cc10 
* add SE3 defintions

* add initialization method

* modify test_so3.check_SO3_to_quaternion to handle cases near pi

* add SE3.hat and SE.vee

* add SE3.adjoint

* add SE3.adjoint, vee and hat

* backup before switching to taoshaf.add_SE3

* add support for single x_y_z_quaternion

* modify SO3

* Remove repeated if in SE3 construction

* SE3.exp added but not tested

* add SE3.log_map()

* SE3.exp_map() and SE3.log_map() are tested

* add SE3.compose()

* simplify test_se3.py

* modify test_se3.py

* add SE3.transform_from and SE3.transform_to

* add SE3.transform_from and SE3.transform_to

* change err_msgs for SO3._rotate_shape_check and SE3._rotate_shape_check

* change error message for SO3._rotate_shape_check and SE3._transform_shape_check

* update err_msg for shape_check
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