deploy: 74fca8d

brentyi · May 6, 2024 · d219c66 · d219c66
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diff --git a/.doctrees/api/jaxlie/_base/index.doctree b/.doctrees/api/jaxlie/_base/index.doctree
diff --git a/.doctrees/api/jaxlie/index.doctree b/.doctrees/api/jaxlie/index.doctree
diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle
diff --git a/_modules/jaxlie/_base/index.html b/_modules/jaxlie/_base/index.html
@@ -84,7 +84,7 @@ <h1>Source code for jaxlie._base</h1><div class="highlight"><pre>
 <span class="kn">import</span> <span class="nn">jax</span>
 <span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">onp</span>
 <span class="kn">from</span> <span class="nn">jax</span> <span class="kn">import</span> <span class="n">numpy</span> <span class="k">as</span> <span class="n">jnp</span>
-<span class="kn">from</span> <span class="nn">typing_extensions</span> <span class="kn">import</span> <span class="n">Self</span><span class="p">,</span> <span class="n">final</span><span class="p">,</span> <span class="n">override</span>
+<span class="kn">from</span> <span class="nn">typing_extensions</span> <span class="kn">import</span> <span class="n">Self</span><span class="p">,</span> <span class="n">final</span><span class="p">,</span> <span class="n">get_args</span><span class="p">,</span> <span class="n">override</span>
 
 <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">hints</span>
 
@@ -124,10 +124,12 @@ <h1>Source code for jaxlie._base</h1><div class="highlight"><pre>
     <span class="c1"># Shared implementations.</span>
 
     <span class="nd">@overload</span>
-    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span> <span class="o">...</span>
+    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+        <span class="o">...</span>
 
     <span class="nd">@overload</span>
-    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">jax</span><span class="o">.</span><span class="n">Array</span><span class="p">:</span> <span class="o">...</span>
+    <span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">jax</span><span class="o">.</span><span class="n">Array</span><span class="p">:</span>
+        <span class="o">...</span>
 
 <div class="viewcode-block" id="MatrixLieGroup.__matmul__">
 <a class="viewcode-back" href="../../../api/jaxlie/#jaxlie._base.MatrixLieGroup.__matmul__">[docs]</a>
@@ -371,6 +373,19 @@ <h1>Source code for jaxlie._base</h1><div class="highlight"><pre>
         <span class="p">)</span></div>
 
 
+<div class="viewcode-block" id="SEBase.from_translation">
+<a class="viewcode-back" href="../../../api/jaxlie/#jaxlie._base.SEBase.from_translation">[docs]</a>
+    <span class="nd">@final</span>
+    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">from_translation</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
+        <span class="c1"># Extract rotation class from type parameter.</span>
+        <span class="k">assert</span> <span class="nb">len</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="n">__orig_bases__</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span>  <span class="c1"># type: ignore</span>
+        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="n">from_rotation_and_translation</span><span class="p">(</span>
+            <span class="n">rotation</span><span class="o">=</span><span class="n">get_args</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="n">__orig_bases__</span><span class="p">[</span><span class="mi">0</span><span class="p">])[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">identity</span><span class="p">(),</span>  <span class="c1"># type: ignore</span>
+            <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span>
+        <span class="p">)</span></div>
+
+
 <div class="viewcode-block" id="SEBase.rotation">
 <a class="viewcode-back" href="../../../api/jaxlie/#jaxlie._base.SEBase.rotation">[docs]</a>
     <span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>

diff --git a/_sources/api/jaxlie/_base/index.rst.txt b/_sources/api/jaxlie/_base/index.rst.txt
@@ -243,6 +243,10 @@ Attributes
       :classmethod:
 
 
+   .. py:method:: from_translation(translation)
+      :classmethod:
+
+
    .. py:method:: rotation()
       :abstractmethod:
 

diff --git a/_sources/api/jaxlie/index.rst.txt b/_sources/api/jaxlie/index.rst.txt
@@ -233,6 +233,10 @@ Classes
       :classmethod:
 
 
+   .. py:method:: from_translation(translation)
+      :classmethod:
+
+
    .. py:method:: rotation()
       :abstractmethod:
 

diff --git a/api/jaxlie/_base/index.html b/api/jaxlie/_base/index.html
@@ -420,6 +420,19 @@ <h3>Attributes<a class="headerlink" href="#attributes" title="Link to this headi
 </dl>
 </dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="jaxlie._base.SEBase.from_translation">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/jaxlie/_base/#SEBase.from_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#jaxlie._base.SEBase.from_translation" title="Link to this definition"></a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>translation</strong> (<em>jaxlie.hints.Array</em>) – </p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>typing_extensions.Self</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="jaxlie._base.SEBase.rotation">
 <em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">rotation</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/jaxlie/_base/#SEBase.rotation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#jaxlie._base.SEBase.rotation" title="Link to this definition"></a></dt>

diff --git a/api/jaxlie/index.html b/api/jaxlie/index.html
@@ -433,6 +433,19 @@ <h3>Classes<a class="headerlink" href="#classes" title="Link to this heading">
 </dl>
 </dd></dl>
 
+<dl class="py method">
+<dt class="sig sig-object py" id="jaxlie.SEBase.from_translation">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_translation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translation</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../_modules/jaxlie/_base/#SEBase.from_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#jaxlie.SEBase.from_translation" title="Link to this definition"></a></dt>
+<dd><dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>translation</strong> (<em>jaxlie.hints.Array</em>) – </p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>typing_extensions.Self</p>
+</dd>
+</dl>
+</dd></dl>
+
 <dl class="py method">
 <dt class="sig sig-object py" id="jaxlie.SEBase.rotation">
 <em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">rotation</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../_modules/jaxlie/_base/#SEBase.rotation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#jaxlie.SEBase.rotation" title="Link to this definition"></a></dt>

diff --git a/genindex/index.html b/genindex/index.html
@@ -350,6 +350,12 @@ <h2 id="F">F</h2>
 
       <ul>
         <li><a href="../api/jaxlie/#jaxlie.SO3.from_rpy_radians">(jaxlie.SO3 static method)</a>
+</li>
+      </ul></li>
+      <li><a href="../api/jaxlie/_base/#jaxlie._base.SEBase.from_translation">from_translation() (jaxlie._base.SEBase class method)</a>
+
+      <ul>
+        <li><a href="../api/jaxlie/#jaxlie.SEBase.from_translation">(jaxlie.SEBase class method)</a>
 </li>
       </ul></li>
       <li><a href="../api/jaxlie/_so3/#jaxlie._so3.SO3.from_x_radians">from_x_radians() (jaxlie._so3.SO3 static method)</a>

diff --git a/objects.inv b/objects.inv
diff --git a/searchindex.js b/searchindex.js