62587f78baec2bf5d5e862909c845cfba75d2730,liegroups/se2.py,SE2,from_matrix,#,31

Before Change

    @classmethod
    def from_matrix(cls, mat):
        Create a SE2 object from a 3x3 transformation matrix.
        if not SE2.is_valid_matrix(mat):
            raise ValueError("Invalid transformation matrix")

        return cls(SO2(mat[0:2, 0:2]), mat[0:2, 2])

    @classmethod
    def is_valid_matrix(cls, mat):

After Change

    @classmethod
    def from_matrix(cls, mat, normalize=False):
        Create a SE2 object from a 3x3 transformation matrix.
        mat_is_valid = cls.is_valid_matrix(mat)
        if mat_is_valid:
            result = cls(SO2(mat[0:2, 0:2]), mat[0:2, 2])
        elif not mat_is_valid and normalize:
            result = cls(SO2(mat[0:2, 0:2]), mat[0:2, 2])
            result.normalize()
        else:
            raise ValueError(
                "Invalid transformation matrix. Use normalize=True to handle rounding errors.")

        return result

    @classmethod
    def is_valid_matrix(cls, mat):
        Check if a matrix is a valid transformation matrix.

Instances