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PyGeometry
Package geometry :: Package manifolds :: Module special_orthogonal_group :: Class SO_group
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Class SO_group

source code

This is the Special Orthogonal group SO(n) describing rotations of Euclidean space; implemented for n=2,3.

TODO: do SO2 and SO3 separately

Nested Classes [hide private]

Inherited from group.Group: __metaclass__

Inherited from differentiable_manifold.DifferentiableManifold: Embedding, Isomorphism

Instance Methods [hide private]
 
__init__(self, N)
:param N: :type N: ``int,(2|3)``		 source code
 
__repr__(self)
repr(x)		 source code
 
belongs(self, x)
Raises an Exception if the point does not belong to this manifold.		 source code
 
friendly(self, x)
:param x: :type x: ``belongs``		 source code
 
interesting_points(self)
:rtype: ``list(belongs)``		 source code
 
sample_uniform(self)
:rtype: ``belongs``		 source code

Inherited from matrix_lie_group.MatrixLieGroup: algebra_from_group, belongs_algebra, distance, expmap, get_algebra, group_from_algebra, inverse, logmap, multiply, project_ts, tangent_bundle, unity, velocity_from_points

Inherited from group.Group: identity

Inherited from differentiable_manifold.DifferentiableManifold: assert_close, belongs_ts, can_convert_to, can_represent, convert_to, embed_in, embeddable_in, from_yaml, geodesic, get_dimension, project_from, project_to, relations_descriptions, to_yaml

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __setattr__, __sizeof__, __str__, __subclasshook__

Static Methods [hide private]

Inherited from differentiable_manifold.DifferentiableManifold: embedding, isomorphism

Class Variables [hide private]
  __abstractmethods__ = frozenset([])
  _abc_cache = <_weakrefset.WeakSet object at 0x23d2850>

Inherited from group.Group (private): _abc_negative_cache, _abc_negative_cache_version, _abc_registry

Properties [hide private]

Inherited from object: __class__

Method Details [hide private]

__init__(self, N)
(Constructor)

source code 

:param N: :type N: ``int,(2|3)``

Overrides: object.__init__

__repr__(self)
(Representation operator)

source code 

repr(x)

Overrides: object.__repr__
(inherited documentation)

belongs(self, x)

source code 

Raises an Exception if the point does not belong to this manifold.

This function wraps some checks around :py:func:`belongs_`, which is implemented by the subclasses.

Overrides: differentiable_manifold.DifferentiableManifold.belongs
(inherited documentation)

friendly(self, x)

source code 

:param x: :type x: ``belongs``

Overrides: differentiable_manifold.DifferentiableManifold.friendly

interesting_points(self)

source code 

:rtype: ``list(belongs)``

Overrides: differentiable_manifold.DifferentiableManifold.interesting_points

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