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.]])