6f38a9c8a9b7d3201c014c3b9846482f3749e95f,liegroups/se3.py,SE3,exp,#,72

Before Change

        if xi.size != 6:
            raise ValueError("xi must have size 6")

        return cls(SO3.exp(xi[3:6]), xi[0:3])

    def log(self):
        Logarithmic map for SE(3)

After Change

        if xi.size != 6:
            raise ValueError("xi must have size 6")

        rho = xi[0:3]
        phi = xi[3:6]
        return cls(SO3.exp(phi), SO3.left_jacobian(phi).dot(rho))

    def log(self):
        Logarithmic map for SE(3)

Instances