ls_mlkit.util.manifold.lie_group module¶

Lie Group

class ls_mlkit.util.manifold.lie_group.LieGroup(*args, **kwargs)[source]¶

Bases: RiemannianManifold

Lie Group

identity()[source]¶: Identity in Group

inverse(p)[source]¶: Inverse in Group

left_translation(g, h)[source]¶: $$L_g(h) = g cdot h$$

multiply(p, q)[source]¶: Multiply in Group