784586f02d063d39360a287422a6384f30f10d12,liegroups/se3.py,SE3,vee,#,92

Before Change

        if Xi.shape != (cls.dim, cls.dim):
            raise ValueError("Xi must have shape (4,4)")

        return np.hstack([Xi[0:3, 3], SO3.vee(Xi[0:3, 0:3])])

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

After Change

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

        xi = np.empty([Xi.shape[0], cls.dof])
        xi[:, 0:3] = Xi[:, 0:3, 3]
        xi[:, 3:6] = SO3.vee(Xi[:, 0:3, 0:3])
        return np.squeeze(xi)

Instances