# SE2-specific.
unit_complex_xy: jax.Array
- """Internal parameters. `(cos, sin, x, y)`. Shape should be `(*, 3)`."""
+ """Internal parameters. `(cos, sin, x, y)`. Shape should be `(*, 4)`."""
[docs]
diff --git a/_sources/api/jaxlie/_se2/index.rst.txt b/_sources/api/jaxlie/_se2/index.rst.txt
index 582b7cf..9f54a62 100644
--- a/_sources/api/jaxlie/_se2/index.rst.txt
+++ b/_sources/api/jaxlie/_se2/index.rst.txt
@@ -37,7 +37,7 @@ Classes
:type: jax.Array
- Internal parameters. ``(cos, sin, x, y)``. Shape should be ``(*, 3)``.
+ Internal parameters. ``(cos, sin, x, y)``. Shape should be ``(*, 4)``.
.. py:method:: __repr__()
diff --git a/_sources/api/jaxlie/index.rst.txt b/_sources/api/jaxlie/index.rst.txt
index 09038d1..3e450e3 100644
--- a/_sources/api/jaxlie/index.rst.txt
+++ b/_sources/api/jaxlie/index.rst.txt
@@ -309,7 +309,7 @@ Classes
:type: jax.Array
- Internal parameters. ``(cos, sin, x, y)``. Shape should be ``(*, 3)``.
+ Internal parameters. ``(cos, sin, x, y)``. Shape should be ``(*, 4)``.
.. py:method:: __repr__()
diff --git a/api/jaxlie/_se2/index.html b/api/jaxlie/_se2/index.html
index 36ca91a..e8a6a87 100644
--- a/api/jaxlie/_se2/index.html
+++ b/api/jaxlie/_se2/index.html
@@ -111,7 +111,7 @@ Classes
jax.Array
Internal parameters. (cos, sin, x, y). Shape should be (*, 3).
+Internal parameters. (cos, sin, x, y). Shape should be (*, 4).
jax.Array
Internal parameters. (cos, sin, x, y). Shape should be (*, 3).
Internal parameters. (cos, sin, x, y). Shape should be (*, 4).
jaxlie._base", "jaxlie._se2", "jaxlie._se3", "jaxlie._so2", "jaxlie._so3", "jaxlie.hints", "jaxlie", "jaxlie.manifold._backprop", "jaxlie.manifold._deltas", "jaxlie.manifold._tree_utils", "jaxlie.manifold", "jaxlie.utils._utils", "jaxlie.utils", "jaxlie documentation", "Basics", "SE(3) Optimization", "jax.vmap Usage"], "terms": {"matrixliegroup": [0, 1, 2, 3, 4, 6, 8, 10, 13], "paramet": [0, 1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16], "sourc": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "base": [0, 1, 2, 3, 4, 5, 6, 15], "abc": [0, 1, 2, 3, 4, 6], "interfac": [0, 6], "definit": [0, 6], "matrix": [0, 1, 2, 3, 4, 6, 14], "lie": [0, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16], "group": [0, 1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16], "py": [0, 1, 2, 3, 4, 5, 6, 15], "matrix_dim": [0, 6, 11, 12], "type": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15], "classvar": [0, 6], "int": [0, 1, 2, 3, 4, 6, 7, 10, 11, 12, 15], "dimens": [0, 6, 16], "squar": [0, 6], "output": [0, 1, 2, 3, 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[0, 3, 4, 6, 7, 10], "sample_uniform": [0, 1, 2, 3, 4, 6, 15], "kei": [0, 1, 2, 3, 4, 6], "draw": [0, 1, 2, 3, 4, 6], "uniform": [0, 1, 2, 3, 4, 6, 16], "sampl": [0, 1, 2, 3, 4, 6], "translat": [0, 1, 2, 3, 4, 6, 14], "applic": [0, 1, 2, 3, 4, 6], "ar": [0, 1, 2, 3, 4, 6, 8, 10, 14, 15, 16], "rang": [0, 1, 2, 3, 4, 6, 15], "1": [0, 1, 2, 3, 4, 6, 8, 10, 14, 15, 16], "prng": [0, 1, 2, 3, 4, 6, 15], "random": [0, 1, 2, 3, 4, 6, 14, 15, 16], "prngkei": [0, 1, 2, 3, 4, 6, 15], "each": [0, 1, 2, 3, 4, 6, 9, 10, 13, 15], "get_batch_ax": [0, 6], "contain": [0, 4, 5, 6, 8, 10, 16], "If": [0, 6, 15], "an": [0, 4, 6, 11, 12, 14, 15, 16], "100": [0, 6, 16], "4": [0, 4, 6, 14, 16], "i": [0, 1, 2, 3, 4, 6, 13, 14, 15, 16], "place": [0, 6], "wxyz": [0, 2, 4, 6, 16], "field": [0, 6, 14], "so3": [0, 2, 4, 6, 13, 14, 16], "object": [0, 3, 6, 8, 10, 11, 12, 14, 16], "exampl": [0, 6, 15], "sobas": [0, 3, 4, 6, 13], "special": [0, 1, 2, 3, 4, 6], "orthogon": [0, 3, 4, 6], "containedsotyp": [0, 6], "sebas": [0, 1, 2, 6, 13], "gener": [0, 1, 2, 4, 6, 13, 14, 15], "euclidean": [0, 1, 2, 6, 8, 10], "n": [0, 6, 16], "so": [0, 6, 13, 16], "rotat": [0, 1, 2, 3, 4, 6, 14, 15, 16], "well": [0, 6], "dimension": [0, 6, 11, 12], "method": [0, 6, 11, 12], "from_rotation_and_transl": [0, 1, 2, 6, 14], "abstractmethod": [0, 6], "construct": [0, 1, 2, 3, 4, 6, 14], "rigid": [0, 1, 2, 6, 13], "param": [0, 6, 15], "term": [0, 1, 2, 6, 8, 10, 14, 15], "from_rot": [0, 6], "from_transl": [0, 6], "": [0, 1, 2, 6, 15], "se2": [1, 6, 13], "so2": [1, 3, 6, 13], "proper": [1, 2, 6], "2d": [1, 3, 6], "broadcast": [1, 2, 3, 4, 6, 11, 12, 13, 16], "rule": [1, 2, 3, 4, 6], "same": [1, 2, 3, 4, 6, 7, 10, 15, 16], "numpi": [1, 2, 3, 4, 6, 11, 12, 14, 15, 16], "intern": [1, 2, 3, 4, 6], "parameter": [1, 2, 3, 4, 6, 14, 15], "co": [1, 3, 6], "sin": [1, 3, 6], "x": [1, 2, 4, 6, 15, 16], "y": [1, 2, 4, 6], "vx": [1, 2, 6], "vy": [1, 2, 6], "attribut": [1, 2, 3, 4, 6], "unit_complex_xi": [1, 6], "3": [1, 6, 13, 14, 16], "__repr__": [1, 2, 3, 4, 6], "repr": [1, 2, 3, 4, 6], "str": [1, 2, 3, 4, 6], "static": [1, 2, 3, 4, 6, 15], "from_xy_theta": [1, 6], "theta": [1, 3, 4, 6], "standard": [1, 6, 15, 16], "pose": [1, 6, 15], "note": [1, 4, 6, 8, 10, 15, 16], "integr": [1, 6, 14], "over": [1, 6, 14, 15, 16], "length": [1, 6, 14], "scalar": [1, 3, 4, 5, 6], "jax_dataclass": [1, 2, 3, 4, 6, 15], "se3": [2, 6, 13, 14, 15], "3d": [2, 4, 6], "qw": [2, 4, 6], "qx": [2, 4, 6], "qy": [2, 4, 6], "qz": [2, 4, 6], "z": [2, 4, 6], "vz": [2, 6], "omega_x": [2, 4, 6], "omega_i": [2, 4, 6], "omega_z": [2, 4, 6], "wxyz_xyz": [2, 6, 14], "quaternion": [2, 4, 6, 14, 15], "follow": [2, 6, 15, 16], "xyz": [2, 6], "7": [2, 6, 14], "unit_complex": [3, 6], "2": [3, 6, 13, 14, 15, 16], "from_radian": [3, 6], "angl": [3, 4, 5, 6], "as_radian": [3, 6], "w": [4, 6, 14], "from_x_radian": [4, 6, 16], "axi": [4, 6, 16], "radian": [4, 6], "from_y_radian": [4, 6], "from_z_radian": [4, 6], "from_rpy_radian": [4, 6], "roll": [4, 5, 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"array (in module jaxlie.hints)": [[5, "jaxlie.hints.Array"]], "rollpitchyaw (class in jaxlie.hints)": [[5, "jaxlie.hints.RollPitchYaw"]], "scalar (in module jaxlie.hints)": [[5, "jaxlie.hints.Scalar"]], "jaxlie.hints": [[5, "module-jaxlie.hints"]], "pitch (jaxlie.hints.rollpitchyaw attribute)": [[5, "jaxlie.hints.RollPitchYaw.pitch"]], "yaw (jaxlie.hints.rollpitchyaw attribute)": [[5, "jaxlie.hints.RollPitchYaw.yaw"]], "matrixliegroup (class in jaxlie)": [[6, "jaxlie.MatrixLieGroup"]], "se2 (class in jaxlie)": [[6, "jaxlie.SE2"]], "se3 (class in jaxlie)": [[6, "jaxlie.SE3"]], "sebase (class in jaxlie)": [[6, "jaxlie.SEBase"]], "so2 (class in jaxlie)": [[6, "jaxlie.SO2"]], "so3 (class in jaxlie)": [[6, "jaxlie.SO3"]], "sobase (class in jaxlie)": [[6, "jaxlie.SOBase"]], "__matmul__() (jaxlie.matrixliegroup method)": [[6, "jaxlie.MatrixLieGroup.__matmul__"]], "__repr__() (jaxlie.se2 method)": [[6, "jaxlie.SE2.__repr__"]], "__repr__() (jaxlie.se3 method)": [[6, "jaxlie.SE3.__repr__"]], 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[[6, "jaxlie.SO2.sample_uniform"]], "sample_uniform() (jaxlie.so3 class method)": [[6, "jaxlie.SO3.sample_uniform"]], "space_dim (jaxlie.matrixliegroup attribute)": [[6, "jaxlie.MatrixLieGroup.space_dim"]], "tangent_dim (jaxlie.matrixliegroup attribute)": [[6, "jaxlie.MatrixLieGroup.tangent_dim"]], "translation() (jaxlie.se2 method)": [[6, "jaxlie.SE2.translation"]], "translation() (jaxlie.se3 method)": [[6, "jaxlie.SE3.translation"]], "translation() (jaxlie.sebase method)": [[6, "jaxlie.SEBase.translation"]], "axisname (in module jaxlie.manifold._backprop)": [[7, "jaxlie.manifold._backprop.AxisName"]], "p (in module jaxlie.manifold._backprop)": [[7, "jaxlie.manifold._backprop.P"]], "grad() (in module jaxlie.manifold._backprop)": [[7, "jaxlie.manifold._backprop.grad"]], "jaxlie.manifold._backprop": [[7, "module-jaxlie.manifold._backprop"]], "value_and_grad() (in module jaxlie.manifold._backprop)": [[7, "jaxlie.manifold._backprop.value_and_grad"]], "zero_tangents() (in module 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"jaxlie.utils._utils.broadcast_leading_axes"]], "get_epsilon() (in module jaxlie.utils._utils)": [[11, "jaxlie.utils._utils.get_epsilon"]], "jaxlie.utils._utils": [[11, "module-jaxlie.utils._utils"]], "register_lie_group() (in module jaxlie.utils._utils)": [[11, "jaxlie.utils._utils.register_lie_group"]], "broadcast_leading_axes() (in module jaxlie.utils)": [[12, "jaxlie.utils.broadcast_leading_axes"]], "get_epsilon() (in module jaxlie.utils)": [[12, "jaxlie.utils.get_epsilon"]], "jaxlie.utils": [[12, "module-jaxlie.utils"]], "register_lie_group() (in module jaxlie.utils)": [[12, "jaxlie.utils.register_lie_group"]]}})
\ No newline at end of file
+Search.setIndex({"docnames": ["api/jaxlie/_base/index", "api/jaxlie/_se2/index", "api/jaxlie/_se3/index", "api/jaxlie/_so2/index", "api/jaxlie/_so3/index", "api/jaxlie/hints/index", "api/jaxlie/index", "api/jaxlie/manifold/_backprop/index", "api/jaxlie/manifold/_deltas/index", "api/jaxlie/manifold/_tree_utils/index", "api/jaxlie/manifold/index", "api/jaxlie/utils/_utils/index", "api/jaxlie/utils/index", "index", "se3_basics", "se3_optimization", "vmap_usage"], "filenames": ["api/jaxlie/_base/index.rst", "api/jaxlie/_se2/index.rst", "api/jaxlie/_se3/index.rst", "api/jaxlie/_so2/index.rst", "api/jaxlie/_so3/index.rst", "api/jaxlie/hints/index.rst", "api/jaxlie/index.rst", "api/jaxlie/manifold/_backprop/index.rst", "api/jaxlie/manifold/_deltas/index.rst", "api/jaxlie/manifold/_tree_utils/index.rst", "api/jaxlie/manifold/index.rst", "api/jaxlie/utils/_utils/index.rst", "api/jaxlie/utils/index.rst", "index.rst", "se3_basics.rst", "se3_optimization.rst", "vmap_usage.rst"], "titles": ["jaxlie._base", "jaxlie._se2", "jaxlie._se3", "jaxlie._so2", "jaxlie._so3", "jaxlie.hints", "jaxlie", "jaxlie.manifold._backprop", "jaxlie.manifold._deltas", "jaxlie.manifold._tree_utils", "jaxlie.manifold", "jaxlie.utils._utils", "jaxlie.utils", "jaxlie documentation", "Basics", "SE(3) Optimization", "jax.vmap Usage"], "terms": {"matrixliegroup": [0, 1, 2, 3, 4, 6, 8, 10, 13], "paramet": [0, 1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16], "sourc": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], "base": [0, 1, 2, 3, 4, 5, 6, 15], "abc": [0, 1, 2, 3, 4, 6], "interfac": [0, 6], "definit": [0, 6], "matrix": [0, 1, 2, 3, 4, 6, 14], "lie": [0, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16], "group": [0, 1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16], "py": [0, 1, 2, 3, 4, 5, 6, 15], "matrix_dim": [0, 6, 11, 12], "type": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15], "classvar": [0, 6], "int": [0, 1, 2, 3, 4, 6, 7, 10, 11, 12, 15], "dimens": [0, 6, 16], "squar": [0, 6], "output": [0, 1, 2, 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"jaxlie.SO3.normalize"]], "parameters() (jaxlie.matrixliegroup method)": [[6, "jaxlie.MatrixLieGroup.parameters"]], "parameters() (jaxlie.se2 method)": [[6, "jaxlie.SE2.parameters"]], "parameters() (jaxlie.se3 method)": [[6, "jaxlie.SE3.parameters"]], "parameters() (jaxlie.so2 method)": [[6, "jaxlie.SO2.parameters"]], "parameters() (jaxlie.so3 method)": [[6, "jaxlie.SO3.parameters"]], "parameters_dim (jaxlie.matrixliegroup attribute)": [[6, "jaxlie.MatrixLieGroup.parameters_dim"]], "rotation() (jaxlie.se2 method)": [[6, "jaxlie.SE2.rotation"]], "rotation() (jaxlie.se3 method)": [[6, "jaxlie.SE3.rotation"]], "rotation() (jaxlie.sebase method)": [[6, "jaxlie.SEBase.rotation"]], "sample_uniform() (jaxlie.matrixliegroup class method)": [[6, "jaxlie.MatrixLieGroup.sample_uniform"]], "sample_uniform() (jaxlie.se2 class method)": [[6, "jaxlie.SE2.sample_uniform"]], "sample_uniform() (jaxlie.se3 class method)": [[6, "jaxlie.SE3.sample_uniform"]], "sample_uniform() (jaxlie.so2 class method)": 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\ No newline at end of file