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Add SE3.compose() #72

Merged
merged 18 commits into from
Feb 10, 2022
Merged

Add SE3.compose() #72

merged 18 commits into from
Feb 10, 2022

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fantaosha
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@fantaosha fantaosha commented Feb 3, 2022 •
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Motivation and Context

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.

@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 3, 2022
@fantaosha fantaosha added the enhancement New feature or request label Feb 3, 2022
luisenp
luisenp approved these changes Feb 9, 2022
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LGTM!

Base automatically changed from taoshaf.add_se3.exp_and_log to main February 10, 2022 00:07
@fantaosha fantaosha merged commit e919819 into main Feb 10, 2022
ddetone pushed a commit that referenced this pull request Mar 29, 2022
@luisenp
Merge pull request #72 from fairinternal/lep.replace_optim_factory
bc81cfa 
Remove optimization factory
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@fantaosha
Add SE3.compose() (facebookresearch#72)
8f0bfd0 
* 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
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@luisenp luisenp luisenp approved these changes

@mhmukadam mhmukadam mhmukadam approved these changes

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@fantaosha fantaosha

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