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first pass at adding ocircle operator to SE(3) with corresponding tests #28

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Merged
angadbajwa merged 3 commits into from
Apr 30, 2026
Merged

first pass at adding ocircle operator to SE(3) with corresponding tests #28

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b360fb3
first pass at adding ocircle operator to SE(3) with corresponding tests
angadbajwa Apr 30, 2026
95e58f5
changed github actions, jaxlib deprecated python3.8
angadbajwa Apr 30, 2026
dfaf207
cleanup
angadbajwa Apr 30, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/test-package.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ jobs:
strategy:
fail-fast: false
matrix:
python-version: ['3.8', '3.9', '3.10']
python-version: ['3.9', '3.10', '3.11', '3.12', '3.13']
steps:
- uses: actions/checkout@v2
- name: Set up Python ${{matrix.python-version}}
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8 changes: 8 additions & 0 deletions pymlg/numpy/se3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,14 @@ def odot(b):
X[0:3, 0:3] = SO3.odot(b[0:3])
X[0:3, 3:6] = b[3] * np.identity(3)
return X

@staticmethod
def ocircle(b):
b = np.array(b).ravel()
X = np.zeros((6, 4))
X[3:6, -1] = b[0:3]
X[0:3, :3] = SO3.odot(b[0:3])
return X
Comment on lines +168 to +175
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Copilot AI Apr 30, 2026

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ocircle is added on the NumPy SE3, but the project README states the user API should be the same across implementations (notably NumPy vs JAX). Currently pymlg/jax/se3.py (and torch) has odot but no ocircle, so this introduces an API mismatch. Either add ocircle to the other backends (at least JAX, per README) or update the API parity promise/documentation.

Suggested change
@staticmethod
def ocircle(b):
b = np.array(b).ravel()
X = np.zeros((6, 4))
X[3:6, -1] = b[0:3]
X[0:3, :3] = SO3.odot(b[0:3])
return X

Copilot uses AI. Check for mistakes.

@staticmethod
def adjoint(T):
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24 changes: 24 additions & 0 deletions tests/numpy/test_se3.py
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@@ -0,0 +1,24 @@
"""
Perform any other group-specific tests that are not part of the standard tests.
"""

from pymlg import SE3 as G
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Copilot AI Apr 30, 2026

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This test module lives under tests/numpy/, but it imports SE3 from the top-level pymlg package (the C++ wrapper by default). To ensure this exercises the pure NumPy implementation and matches the pattern used by tests/numpy/test_standard_numpy.py, import SE3 from pymlg.numpy instead (and keep backend-specific tests in their respective folders).

Suggested change
from pymlg import SE3 as G
from pymlg.numpy import SE3 as G

Copilot uses AI. Check for mistakes.
import numpy as np

def test_odot():
p = np.array([0.1, 0.2, 0.3, 0.4])
x = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
X = G.odot(p)
assert X.shape == (4, 6)
assert np.allclose(G.wedge(x) @ p, X @ x)

def test_ocircle():
p = np.array([0.1, 0.2, 0.3, 0.4])
x = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
X = G.ocircle(p)
assert X.shape == (6, 4)
assert np.allclose(p.T @ G.wedge(x), x.T @ X)

if __name__ == "__main__":
test_odot()
test_ocircle()
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