pypose.Parameter

class pypose.Parameter(data=None, requires_grad=True)

A kind of LieTensor that is to be considered a module parameter.

Parameters are of LieTensor() and torch.nn.Parameter(), that have a very special property when used with Modules: when they are assigned as Module attributes they are automatically added to the list of its parameters, and will appear, e.g., in parameters() iterator.

Parameters

• data (LieTensor) – parameter LieTensor.

• requires_grad (bool, optional) – if the parameter requires gradient. Default: True

Examples

>>> import torch, pypose as pp
>>> x = pp.Parameter(pp.randn_SO3(2))
>>> x.Log().sum().backward()
>>> x.grad
tensor([[0.8590, 1.4069, 0.6261, 0.0000],
        [1.2869, 1.0748, 0.5385, 0.0000]])