SE3

[mhubii]

Hi and thank you for providing this great library!

I am using it for some optimization and am in need for exponential / logarithm map of SE(3). Browsing the code, I can find this for SO(3)

https://github.com/UM-ARM-Lab/pytorch_kinematics/blob/master/src/pytorch_kinematics/transforms/so3.py

I have also seen that a different representation is used instead

pytorch_kinematics/src/pytorch_kinematics/transforms/rotation_conversions.py

Line 665 in a457cda

def matrix44_to_se3_9d(matrix: torch.Tensor) -> torch.Tensor:

Are there plans to add this in the future or is this already supported and I am just overseeing something? Thank you!

[LemonPi]

Hi @mhubii, thanks for your interest; currently there is just so(3) -> SO(3) and SO(3) -> so(3). There are no immediate plans to add in the equivalent transforms for SE(3), but that seems like a great pull request candidate if you'd like to contribute. For quick reference and for those reading and are interested in this issue, see https://jinyongjeong.github.io/Download/SE3/jlblanco2010geometry3d_techrep.pdf