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SE2 left jacobians#12

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+192-15

Commits

Commits on Jan 3, 2021

• left jacobian implementation for SE2

  

  Matt Gadd

  committed
  bec2df8

• fix bottom right element of SE2 left jacobian

  

  Matt Gadd

  committed
  8b93ad0

• add unit test in anticipation of inv left jacobian implementation

  

  Matt Gadd

  committed
  329fd18

• using MATLAB symbolic toolbox to implement inverse left jacobian for SE2 group - FAILS for small tangent vecs (theta)

  

  Matt Gadd

  committed
  aa70a03

• MATLAB symbolic toolbox solves small tangent vec case - test passes

  

  Matt Gadd

  committed
  9480679

• adds torch unit tests in anticipation of left/inv jacobians for SE2 groups

  

  Matt Gadd

  committed
  420b904

• left jacobian SE2 implemented in torch

  

  Matt Gadd

  committed
  d94f410

• torch implementations of left jacobian (and inverse) implemented and pass unit test(s)

  

  Matt Gadd

  committed
  97d76dd

• ensure se2 jacs are on the correct device

  

  Matt Gadd

  committed
  db18c52

• fixing a few device issues

  

  Matt Gadd

  committed
  a391c39

• cleaning up prior PR

  

  Matt Gadd

  committed
  6c87b28

Commits on Jan 8, 2021

• take translation and rotation parts from tangent vector

  

  Matt Gadd

  committed
  721d7fd

• numpy implementation matches notation with SE(3) for trans/rot parts of tangent vec

  

  Matt Gadd

  committed
  242f0e3

• torch implementation matches notation with SE(3) for trans/rot parts of tangent vec

  

  Matt Gadd

  committed
  ca637bd