784586f02d063d39360a287422a6384f30f10d12,liegroups/se2.py,SE2,wedge,#,51

Before Change

        if len(xi) != cls.dof:
            raise ValueError("xi must have length 3")

        return np.vstack(
            [np.hstack([SO2.wedge(xi[2]),
                        np.reshape(xi[0:2], (2, 1))]),
             [0, 0, 0]]
        )

    @classmethod
    def vee(cls, Xi):
        SE(2) vee operator as defined by Barfoot.

After Change

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

        Xi = np.zeros([xi.shape[0], cls.dof, cls.dof])
        Xi[:, 0:2, 0:2] = SO2.wedge(xi[:, 2])
        Xi[:, 0:2, 2] = xi[:, 0:2]

        return np.squeeze(Xi)

Instances