项目作者: utiasSTARS

项目描述 :
Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or pytorch
高级语言: Python
项目地址: git://github.com/utiasSTARS/liegroups.git
创建时间: 2017-03-22T19:24:36Z
项目社区:https://github.com/utiasSTARS/liegroups

开源协议:MIT License

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liegroups

Python implementation of SO2, SE2, SO3, and SE3 matrix Lie groups using numpy or PyTorch.

Note that this package is no longer actively mantained and has been superseded by [PyMLG].

[Documentation]

Installation

To install, cd into the repository directory (the one with setup.py) and run:

  1. pip install .

or

  1. pip install -e .

The -e flag tells pip to install the package in-place, which lets you make changes to the code without having to reinstall every time. Do not do this on shared workstations!

Testing

Ensure you have pytest installed on your system, or install it using conda install pytest or pip install pytest. Then run pytest in the repository directory.

Usage

Numpy and torch implementations are accessible through the liegroups.numpy and liegroups.torch subpackages.
By default, the numpy implementation is available through the top-level package.

Access the numpy implementation using something like

  1. from liegroups import SE3

or

  1. from liegroups.numpy import SO2

Access the pytorch implementation using something like

  1. from liegroups.torch import SE2