klampt.math.autodiff.so3_ad module

so3 module AD functions:

Function	Derivative
identity	N/A
apply	Y
mul	Y
inv	Y
trace	Y
rpy	N
from_rpy	1
rotation_vector	1
from_rotation_vector	1
axis	N
angle	1
from_axis_angle	1
quaternion	N
from_quaternion	N
distance	N
error	1
cross_product	N
diag	Y
deskew	Y
canonical	N
interpolate	N
det	N

All so3_ad elements are just 9-element numpy arrays, just like the so3 module.

Module contents

identity()	A 0 argument function that returns the SO(3) identity (just an alias to so3.identity)
apply	Autodiff’ed version of so3.apply.
mul	Autodiff’ed version of so3.mul.
inv	Autodiff’ed version of so3.identity.
trace	Autodiff’ed version of so3.trace.
rpy	Autodiff’ed version of so3.rpy.
from_rpy	Autodiff’ed version of so3.from_rpy.
rotation_vector	Autodiff’ed version of so3.rotation_vector.
from_rotation_vector	Autodiff’ed version of so3.from_rotation_vector.
axis	Autodiff’ed version of so3.axis_angle(R)[0].
angle	Autodiff’ed version of so3.angle.
from_axis_angle	Autodiff’ed version of so3.from_axis_angle.
quaternion	Autodiff’ed version of so3.quaternion.
from_quaternion	Autodiff’ed version of so3.from_quaternion.
distance	Autodiff’ed version of so3.distance.
error	Autodiff’ed version of so3.error.
cross_product	Autodiff’ed version of so3.cross_product.
diag	Autodiff’ed version of so3.diag.
deskew	Autodiff’ed version of so3.deskew.
canonical	Autodiff’ed version of so3.canonical.
interpolate	Autodiff’ed version of so3.interpolate.
det	Autodiff’ed version of so3.det.

klampt.math.autodiff.so3_ad.SIZE = 9

Constant giving the dimension of an so3_ad element

klampt.math.autodiff.so3_ad.angle(*args) = <klampt.math.autodiff.ad._ad_so3.angle object>

Autodiff’ed version of so3.angle. First derivatives are implemented.

klampt.math.autodiff.so3_ad.apply(*args) = <klampt.math.autodiff.ad._ad_so3.apply object>

Autodiff’ed version of so3.apply. First derivatives are implemented.

klampt.math.autodiff.so3_ad.axis(*args) = <klampt.math.autodiff.ad._ad_axis object>

Autodiff’ed version of so3.axis_angle(R)[0]. First derivatives are implemented.

klampt.math.autodiff.so3_ad.canonical(*args) = <klampt.math.autodiff.ad._ad_so3.canonical object>

Autodiff’ed version of so3.canonical.

klampt.math.autodiff.so3_ad.cross_product(*args) = <klampt.math.autodiff.ad._ad_so3.cross_product object>

Autodiff’ed version of so3.cross_product. All derivatives are implemented.

klampt.math.autodiff.so3_ad.deskew(*args) = <klampt.math.autodiff.ad._ad_so3.deskew object>

Autodiff’ed version of so3.deskew. All derivatives are implemented.

klampt.math.autodiff.so3_ad.det(*args) = <klampt.math.autodiff.ad._ad_so3.det object>

Autodiff’ed version of so3.det.

klampt.math.autodiff.so3_ad.diag(*args) = <klampt.math.autodiff.ad._ad_so3.diag object>

Autodiff’ed version of so3.diag. All derivatives are implemented.

klampt.math.autodiff.so3_ad.distance(*args) = <klampt.math.autodiff.ad._ad_so3.distance object>

Autodiff’ed version of so3.distance.

klampt.math.autodiff.so3_ad.error(*args) = <klampt.math.autodiff.ad._ad_so3.error object>

Autodiff’ed version of so3.error. First derivatives are implemented.

klampt.math.autodiff.so3_ad.from_axis_angle(*args) = <klampt.math.autodiff.ad._ad_so3.from_axis_angle object>

Autodiff’ed version of so3.from_axis_angle. First derivatives are implemented.

klampt.math.autodiff.so3_ad.from_quaternion(*args) = <klampt.math.autodiff.ad._ad_so3.from_quaternion object>

Autodiff’ed version of so3.from_quaternion. First derivatives are implemented.

klampt.math.autodiff.so3_ad.from_rotation_vector(*args) = <klampt.math.autodiff.ad._ad_so3.from_rotation_vector object>

Autodiff’ed version of so3.from_rotation_vector. First derivatives are implemented.

klampt.math.autodiff.so3_ad.from_rpy(*args) = <klampt.math.autodiff.ad._ad_so3.from_rpy object>

Autodiff’ed version of so3.from_rpy. First derivatives are implemented.

klampt.math.autodiff.so3_ad.identity()

A 0 argument function that returns the SO(3) identity (just an alias to so3.identity)

klampt.math.autodiff.so3_ad.interpolate(*args) = <klampt.math.autodiff.ad._ad_so3.interpolate object>

Autodiff’ed version of so3.interpolate.

klampt.math.autodiff.so3_ad.inv(*args) = <klampt.math.autodiff.ad._ad_so3.inv object>

Autodiff’ed version of so3.identity. All derivatives are implemented.

klampt.math.autodiff.so3_ad.mul(*args) = <klampt.math.autodiff.ad._ad_so3.mul object>

Autodiff’ed version of so3.mul. First derivatives are implemented.

klampt.math.autodiff.so3_ad.quaternion(*args) = <klampt.math.autodiff.ad._ad_so3.quaternion object>

Autodiff’ed version of so3.quaternion. First derivatives are implemented.

klampt.math.autodiff.so3_ad.rotation_vector(*args) = <klampt.math.autodiff.ad._ad_so3.rotation_vector object>

Autodiff’ed version of so3.rotation_vector. First derivatives are implemented.

klampt.math.autodiff.so3_ad.rpy(*args) = <klampt.math.autodiff.ad._ad_so3.rpy object>

Autodiff’ed version of so3.rpy.

klampt.math.autodiff.so3_ad.trace(*args) = <klampt.math.autodiff.ad._ad_so3.trace object>

Autodiff’ed version of so3.trace. Allderivatives are implemented.