Class Hierarchy

• geometry.constants.GeometryConstants
• geometry.yaml.Representation
  • geometry.yaml.SE3_m44
  • geometry.yaml.TSE3_bt
  • geometry.yaml.se3_m44
• object: The most base type
  • exceptions.BaseException: Common base class for all exceptions
    • exceptions.Exception: Common base class for all non-exit exceptions.
      • geometry.manifolds.exceptions.DoesNotBelong: Exception thrown when a point does not belong to a certain manifold *M*.
  • geometry.manifolds.differentiable_manifold.DifferentiableManifold: This is the base class for differentiable manifolds.
    • geometry.manifolds.matrix_lie_group.MatrixLieGroup: This is the base class for matrix Lie groups.
      • geometry.manifolds.special_euclidean_group.SE_group: This is the Special Euclidean group SE(n) describing roto-translations of Euclidean space.
      • geometry.manifolds.special_orthogonal_group.SO_group: This is the Special Orthogonal group SO(n) describing rotations of Euclidean space; implemented for n=2,3.
      • geometry.manifolds.translation_group.Tran: The translation subgroup of SE(n).
    • geometry.manifolds.matrix_lie_group_tangent.MatrixLieGroupTangent: This class represents the tangent bundle of a matrix Lie group using a tuble (base, v0), where v0 is in the algebra.
    • geometry.manifolds.matrix_linear_space.MatrixLinearSpace
      • geometry.manifolds.euclidean.Euclidean: This is the usual Euclidean space of finite dimension; this is mostly used for debugging.
      • geometry.manifolds.matrix_lie_algebra.MatrixLieAlgebra: This is the base class for Matrix Lie Algebra.
        • geometry.manifolds.special_euclidean_algebra.se_algebra: This is the Lie algebra se(n) for the Special Euclidean group SE(n).
        • geometry.manifolds.special_orthogonal_algebra.so_algebra: This is the Lie algebra of skew-symmetric matrices so(n), for the Special Orthogonal group SO(n).
        • geometry.manifolds.translation_algebra.tran: lie algebra for translation
    • geometry.manifolds.todo.moebius.Moebius: INCOMPLETE - The Moebius strip -- still to be implemented.
    • geometry.manifolds.product_manifold.ProductManifold
    • geometry.manifolds.differentiable_manifold.RandomManifold: This is the base class for manifolds that have the ability to sample random points.
    • geometry.manifolds.sphere.Sphere: These are hyperspheres of unit radius.
    • geometry.manifolds.sphere.Sphere1
    • geometry.manifolds.tangent_bundle.TangentBundle: This class represents the tangent bundle of a generic manifold using a tuple (base, vel) where vel is tangent at base.
    • geometry.manifolds.torus.Torus
  • geometry.manifolds.group.Group
    • geometry.manifolds.matrix_lie_group.MatrixLieGroup: This is the base class for matrix Lie groups.
      • geometry.manifolds.special_euclidean_group.SE_group: This is the Special Euclidean group SE(n) describing roto-translations of Euclidean space.
      • geometry.manifolds.special_orthogonal_group.SO_group: This is the Special Orthogonal group SO(n) describing rotations of Euclidean space; implemented for n=2,3.
      • geometry.manifolds.translation_group.Tran: The translation subgroup of SE(n).
  • tuple: tuple() -> empty tuple tuple(iterable) -> tuple initialized from iterable's items
    • geometry.manifolds.differentiable_manifold.DifferentiableManifold.Embedding: Embedding(A, B, A_to_B, B_to_A, steps, type, desc)
    • geometry.manifolds.differentiable_manifold.DifferentiableManifold.Isomorphism: Isomorphism(A, B, A_to_B, B_to_A, steps, type, desc)
  • type: type(object) -> the object's type type(name, bases, dict) -> a new type
    • abc.ABCMeta: Metaclass for defining Abstract Base Classes (ABCs).