784586f02d063d39360a287422a6384f30f10d12,liegroups/se2.py,SE2,vee,#,66

Before Change

        if Xi.shape != (cls.dim, cls.dim):
            raise ValueError("Xi must have shape (3,3)")

        return np.hstack([Xi[0:2, 2], SO2.vee(Xi[0:2, 0:2])])

    @classmethod
    def odot(cls, p, **kwargs):
        SE(2) \odot operator as defined by Barfoot.

After Change

        This is the inverse operation to SE2.wedge.
        
        if Xi.ndim < 3:
            Xi = np.expand_dims(Xi, axis=0)

        if Xi.shape[1:3] != (cls.dim, cls.dim):
            raise ValueError("Xi must have shape ({},{}) or (N,{},{})".format(
                cls.dim, cls.dim, cls.dim, cls.dim))

        xi = np.empty([Xi.shape[0], cls.dim])
        xi[:, 0:2] = Xi[:, 0:2, 2]
        xi[:, 2] = SO2.vee(Xi[:, 0:2, 0:2])
        return np.squeeze(xi)

    @classmethod
    def odot(cls, p, **kwargs):
        SE(2) \odot operator as defined by Barfoot.

Instances