pypose.Jr

class pypose.Jr(x)

The batched right Jacobian of a LieTensor.

Parameters

input (LieTensor) – the input LieTensor (either Lie Group or Lie Algebra)

Returns

the right Jocobian Matrices

Return type

Tensor

Examples

• \(\mathrm{Jr}\): so3() \(\mapsto\) \(\mathcal{R}^{*\times 3\times 3}\)

  >>> x = pp.randn_so3(requires_grad=True)
  >>> x.Jr()
  tensor([[ 0.9289, -0.3053, -0.0895],
          [ 0.3180,  0.9082,  0.1667],
          [ 0.0104, -0.1889,  0.9757]], grad_fn=<SWhereBackward0>)