Lie Groups Module

SE(3): 3D Rigid Transformations

SO(3): 3D Rotations

class cyecca.lie.SO3LieGroup(algebra: LieAlgebra, n_param: int, matrix_shape: tuple[int, int])[source]

An abstract SO3 Lie Group

product(left: SO3LieGroupElement, right: SO3LieGroupElement) → SO3LieGroupElement[source]: Default product uses matrix conversion

product_r3(left: SO3LieGroupElement, right: R3LieAlgebraElement) → R3LieAlgebraElement[source]: Vector rotation for algebra r3, uses to_Matrix

product_vector(left: SO3LieGroupElement, right: SX | DM) → SX[source]: Vector product, uses matrix conversion