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.identity()

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

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

Autodiff’ed version of so3.trace. Allderivatives 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.rpy(*args) = <klampt.math.autodiff.ad._ad_so3.rpy object>

Autodiff’ed version of so3.rpy.

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

Autodiff’ed version of so3.distance.

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

Autodiff’ed version of so3.interpolate.

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

Autodiff’ed version of so3.det.