Module poses

       Projects a pose in SE3 to SE2.
   
       If check_exact is True, it will check that z = 0 and axis ~= [0,0,1].
   


:param pose: 
:type pose:  ``SE3``

:rtype:  ``SE2``

:param R: :type R: ``array[NxN],SO``

:param t: :type t: ``array[N]``

:rtype: ``array[MxM],M=N+1,SE``

Converts from Lie algebra representation to pose. 
           
       See Bullo, Murray "PD control on the euclidean group" for proofs.
   


:param vel: 
:type vel:  ``se2``

:rtype:  ``SE2``

:param vel: :type vel: ``se2``

:rtype: ``SE2``

Returns an element of SE2 from translation and rotation.

:param theta: :type theta: ``number``

:param t: :type t: ``array[2]|seq[2](number)``

:rtype: ``SE2``

Returns an element of SE2 from translation and rotation.

:param xytheta: :type xytheta: ``array[3]|seq[3](number)``

:rtype: ``SE2``

Embeds a pose in SE2 to SE3, setting z=0 and upright.

:param pose: :type pose: ``SE2``

:rtype: ``SE3``

:param R: :type R: ``array[NxN],SO``

:param t: :type t: ``array[N]``

:rtype: ``array[MxM],M=N+1,SE``

:param pose: :type pose: ``SE2``

:rtype: ``float``

:param a: :type a: ``array[MxM]``

:param c: :type c: ``array[M]``

:param b: :type b: ``array[M]``

:param d: :type d: ``number``

:rtype: ``array[NxN],N=M+1``

:param x: :type x: ``array[NxN]``

:rtype: ``tuple(array[MxM],array[M],array[M],number),M=N-1``

:param vel: :type vel: ``se2``

:rtype: ``tuple(array[2],float)``

:param R: :type R: ``array[NxN],SO``

:param t: :type t: ``array[N]``

:rtype: ``array[MxM],M=N+1,SE``

:param pose: :type pose: ``array[NxN],SE``

:rtype: ``tuple(array[MxM],array[M]),M=N-1``

:param pose: :type pose: ``array[NxN],SE``

:rtype: ``tuple(array[MxM],array[M]),M=N-1``

:param pose: :type pose: ``array[NxN],SE``

:rtype: ``tuple(array[MxM],array[M]),M=N-1``

       Converts a pose to its Lie algebra representation.
       
       See Bullo, Murray "PD control on the euclidean group" for proofs.
   


:param pose: 
:type pose:  ``SE2``

:rtype:  ``se2``

Converts a pose to its Lie algebra representation.

:param pose: :type pose: ``SE2``

:rtype: ``se2``

Returns an element of se2 from linear and angular velocity.

:param linear: :type linear: ``array[2]|seq[2](number)``

:param angular: :type angular: ``number``

:rtype: ``se2``

:param pose: :type pose: ``SE2``

:rtype: ``tuple(array[2],float)``

:param pose: :type pose: ``SE2``

:rtype: ``array[2]``

:param pose: :type pose: ``SE3``

:rtype: ``array[3]``