class pypose.identity_RxSO3(*size, **kwargs)[source]

Returns identity RxSO3_type LieTensor with the given lsize.

See RxSO3() for implementation details.

  • lsize (int..., optional) – a sequence of integers defining the LieTensor.lshape of the output LieTensor. Can be a variable number of arguments or a collection like a list or tuple. If not given, a single RxSO3_type item will be returned.

  • requires_grad (bool, optional) – If autograd should record operations on the returned tensor. Default: False.

  • generator (torch.Generator, optional) – a pseudorandom number generator for sampling

  • dtype (torch.dtype, optional) – the desired data type of returned tensor. Default: if None, uses a global default (see torch.set_default_tensor_type()).

  • layout (torch.layout, optional) – the desired layout of returned Tensor. Default: torch.strided.

  • device (torch.device, optional) – the desired device of returned tensor. Default: if None, uses the current device for the default tensor type (see torch.set_default_tensor_type()). device will be the CPU for CPU tensor types and the current CUDA device for CUDA tensor types.


a RxSO3_type LieTensor

Return type



>>> pp.identity_RxSO3()
RxSO3Type LieTensor:
tensor([0., 0., 0., 1., 1.])
>>> pp.identity_RxSO3(2)
RxSO3Type LieTensor:
tensor([[0., 0., 0., 1., 1.],
        [0., 0., 0., 1., 1.]])
>>> pp.identity_RxSO3(2, 1)
RxSO3Type LieTensor:
tensor([[[0., 0., 0., 1., 1.]],
        [[0., 0., 0., 1., 1.]]])


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