784586f02d063d39360a287422a6384f30f10d12,liegroups/se3.py,SE3,wedge,#Any#Any#,51

Before Change

        This is the inverse operation to SE3.vee.
        
        if len(xi) != cls.dof:
            raise ValueError("xi must have length 6")

        return np.vstack(
            [np.hstack([SO3.wedge(xi[3:7]),
                        np.reshape(xi[0:3], (3, 1))]),
             [0, 0, 0, 0]]
        )

    @classmethod
    def odot(cls, p, **kwargs):
        SE(3) \odot operator as defined by Barfoot.

After Change

        This is the inverse operation to SE3.vee.
        
        xi = np.atleast_2d(xi)
        if xi.shape[1] != cls.dof:
            raise ValueError(
                "xi must have shape ({},) or (N,{})".format(cls.dof, cls.dof))

        Xi = np.zeros([xi.shape[0], cls.dim, cls.dim])
        Xi[:, 0:3, 0:3] = SO3.wedge(xi[:, 3:7])
        Xi[:, 0:3, 3] = xi[:, 0:3]
        return np.squeeze(Xi)

    @classmethod
    def vee(cls, Xi):

Instances