Python API

class sophus.complex.Complex(real, imag)

Complex class

static Da_a_mul_b(a, b)

derivatice of complex muliplication wrt left multiplier a

static Db_a_mul_b(a, b)

derivatice of complex muliplication wrt right multiplicand b

conj()

complex conjugate

inv()

complex inverse

squared_norm()

squared norm when considering the complex number as tuple

class sophus.complex.TestComplex(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.

run with: python3 -m sophus.quaternion

class sophus.quaternion.Quaternion(real, vec)

Quaternion class

static Da_a_mul_b(a, b)

derivatice of quaternion muliplication wrt left multiplier a

static Db_a_mul_b(a, b)

derivatice of quaternion muliplication wrt right multiplicand b

conj()

quaternion conjugate

inv()

quaternion inverse

squared_norm()

squared norm when considering the quaternion as 4-tuple

class sophus.quaternion.TestQuaternion(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.

class sophus.so2.So2(z)

2 dimensional group of orthogonal matrices with determinant 1

static exp(theta)

exponential map

log()

logarithmic map

matrix()

returns matrix representation

class sophus.so2.TestSo2(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.

class sophus.so3.So3(q)

3 dimensional group of orthogonal matrices with determinant 1

static exp(v)

exponential map

log()

logarithmic map

matrix()

returns matrix representation

class sophus.so3.TestSo3(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.

class sophus.se2.Se2(so2, t)

2 dimensional group of rigid body transformations

static exp(v)

exponential map

matrix()

returns matrix representation

class sophus.se2.TestSe2(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.

class sophus.se3.Se3(so3, t)

3 dimensional group of rigid body transformations

static exp(v)

exponential map

static hat(v)

R^6 => R^4x4

matrix()

returns matrix representation

static vee(Omega)

R^4x4 => R^6

class sophus.se3.TestSe3(methodName='runTest')
setUp()

Hook method for setting up the test fixture before exercising it.