1. create SO2, SE2, SO3 and SE3
import numpy as np
import sophuspy as sp
# 1. constructor of SO2
sp.SO2() # default
sp.SO2([[1, 0],
[0, 1]]) # list
sp.SO2(np.eye(2)) # numpy
'''
SO2([[1, 0],
[0, 1]])
'''
# 2. constructor of SO3
sp.SO3() # default
sp.SO3([[1, 0, 0],
[0, 1, 0],
[0, 0, 1]]) # list
sp.SO3(np.eye(3)) # numpy
'''
SO3([[1, 0, 0],
[0, 1, 0],
[0, 0, 1]])
'''
# 3. constructor of SE2
sp.SE2() # default
sp.SE2([[1, 0, 0],
[0, 1, 0],
[0, 0, 1]]) # list
sp.SE2(np.eye(3)) # numpy
'''
SE2([[1, 0, 0],
[0, 1, 0],
[0, 0, 1]])
'''
# 4. constructor of SE3
sp.SE3() # default
sp.SE3([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]]) # list
sp.SE3(np.eye(4)) # numpy
'''
SE3([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]])
'''
# 5. R, t constructor of SE2
sp.SE2(np.eye(2), np.ones(2)) # R, t
'''
SE2([[1, 0, 1],
[0, 1, 1],
[0, 0, 1]])
'''
# 6. R, t constructor of SE3
sp.SE3(np.eye(3), np.ones(3)) # R, t
'''
SE3([[1, 0, 0, 1],
[0, 1, 0, 1],
[0, 0, 1, 1],
[0, 0, 0, 1]])
'''