pypose.translation

pypose.translation(inputs)

Extract the translation part from a LieTensor.

Parameters:

inputs (LieTensor) – the input LieTensor.

Returns:

the batched translation vectors.

Return type:

Tensor

Warning

The SO3, so3, RxSO3, and rxso3 types do not contain translation. Calling translation() on these types will return zero vector(s).

Example

>>> x = pp.randn_SE3(2)
>>> x.translation()
tensor([[-0.5358, -1.5421, -0.7224],
        [ 0.8331, -1.4412,  0.0863]])
>>> y = pp.randn_SO3(2)
>>> y.translation()
tensor([[0., 0., 0.],
        [0., 0., 0.]])