784586f02d063d39360a287422a6384f30f10d12,liegroups/se3.py,SE3,odot,#,66

Before Change

            return result

        elif len(p) == cls.dim:
            result = np.zeros([4, 6])
            result[0:3, 0:3] = p[3] * np.eye(3)
            result[0:3, 3:6] = -SO3.wedge(p[0:3])

            return result

After Change

            raise ValueError("p must have shape ({},), ({},), (N,{}) or (N,{})".format(
                cls.dim - 1, cls.dim, cls.dim - 1, cls.dim))

        return np.squeeze(result)

    @classmethod
    def exp(cls, xi):
        Exponential map for SE(3).

Instances