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SE2 left jacobians #12

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SE2 left jacobians #12

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Commits on Jan 3, 2021

  1. left jacobian implementation for SE2

    @mttgdd
    mttgdd committed Jan 3, 2021
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  2. fix bottom right element of SE2 left jacobian

    @mttgdd
    mttgdd committed Jan 3, 2021
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  3. add unit test in anticipation of inv left jacobian implementation

    @mttgdd
    mttgdd committed Jan 3, 2021
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  4. using MATLAB symbolic toolbox to implement inverse left jacobian for … 

    …SE2 group - FAILS for small tangent vecs (theta)
    @mttgdd
    mttgdd committed Jan 3, 2021
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  5. MATLAB symbolic toolbox solves small tangent vec case - test passes

    @mttgdd
    mttgdd committed Jan 3, 2021
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  6. adds torch unit tests in anticipation of left/inv jacobians for SE2 g… 

    …roups
    @mttgdd
    mttgdd committed Jan 3, 2021
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  7. left jacobian SE2 implemented in torch

    @mttgdd
    mttgdd committed Jan 3, 2021
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  8. torch implementations of left jacobian (and inverse) implemented and … 

    …pass unit test(s)
    @mttgdd
    mttgdd committed Jan 3, 2021
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  9. ensure se2 jacs are on the correct device

    @mttgdd
    mttgdd committed Jan 3, 2021
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  10. fixing a few device issues

    @mttgdd
    mttgdd committed Jan 3, 2021
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  11. cleaning up prior PR

    @mttgdd
    mttgdd committed Jan 3, 2021
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Commits on Jan 8, 2021

  1. take translation and rotation parts from tangent vector

    @mttgdd
    mttgdd committed Jan 8, 2021
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  2. numpy implementation matches notation with SE(3) for trans/rot parts … 

    …of tangent vec
    @mttgdd
    mttgdd committed Jan 8, 2021
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  3. torch implementation matches notation with SE(3) for trans/rot parts … 

    …of tangent vec
    @mttgdd
    mttgdd committed Jan 8, 2021
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