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@brentyi
brentyi committed May 6, 2024
1 parent bd4f1b8 commit 9018fd4
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12 changes: 1 addition & 11 deletions _modules/viser/infra/_infra/index.html
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Expand Up @@ -266,17 +266,7 @@ <h1>Source code for viser.infra._infra</h1><div class="highlight"><pre>
<span class="kn">from</span> <span class="nn">asyncio.events</span> <span class="kn">import</span> <span class="n">AbstractEventLoop</span>
<span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span>
<span class="kn">from</span> <span class="nn">pathlib</span> <span class="kn">import</span> <span class="n">Path</span>
<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="p">(</span>
<span class="n">Any</span><span class="p">,</span>
<span class="n">Callable</span><span class="p">,</span>
<span class="n">Dict</span><span class="p">,</span>
<span class="n">List</span><span class="p">,</span>
<span class="n">NewType</span><span class="p">,</span>
<span class="n">Optional</span><span class="p">,</span>
<span class="n">Tuple</span><span class="p">,</span>
<span class="n">Type</span><span class="p">,</span>
<span class="n">TypeVar</span><span class="p">,</span>
<span class="p">)</span>
<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Callable</span><span class="p">,</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">List</span><span class="p">,</span> <span class="n">NewType</span><span class="p">,</span> <span class="n">Optional</span><span class="p">,</span> <span class="n">Tuple</span><span class="p">,</span> <span class="n">Type</span><span class="p">,</span> <span class="n">TypeVar</span>

<span class="kn">import</span> <span class="nn">msgpack</span>
<span class="kn">import</span> <span class="nn">rich</span>
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24 changes: 14 additions & 10 deletions _modules/viser/transforms/_base/index.html
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Expand Up @@ -301,22 +301,26 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<span class="c1"># Shared implementations.</span>

<span class="nd">@overload</span>
<span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span> <span class="o">...</span>
<span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="o">...</span>

<span class="nd">@overload</span>
<span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span> <span class="o">...</span>
<span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span>
<span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]</span>
<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
<span class="o">...</span>

<div class="viewcode-block" id="MatrixLieGroup.__matmul__">
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.__matmul__">[docs]</a>
<span class="k">def</span> <span class="fm">__matmul__</span><span class="p">(</span>
<span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">]</span>
<span class="bp">self</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]]</span>
<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Union</span><span class="p">[</span><span class="n">Self</span><span class="p">,</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]]:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Overload for the `@` operator.</span>

<span class="sd"> Switches between the group action (`.apply()`) and multiplication</span>
<span class="sd"> (`.multiply()`) based on the type of `other`.</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="p">(</span><span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">)):</span>
<span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="n">onp</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="n">other</span><span class="p">)</span>
<span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">other</span><span class="p">,</span> <span class="n">MatrixLieGroup</span><span class="p">):</span>
<span class="k">assert</span> <span class="bp">self</span><span class="o">.</span><span class="n">space_dim</span> <span class="o">==</span> <span class="n">other</span><span class="o">.</span><span class="n">space_dim</span>
Expand Down Expand Up @@ -346,7 +350,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.from_matrix">[docs]</a>
<span class="nd">@classmethod</span>
<span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
<span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="k">def</span> <span class="nf">from_matrix</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">matrix</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Get group member from matrix representation.</span>

<span class="sd"> Args:</span>
Expand Down Expand Up @@ -378,7 +382,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<div class="viewcode-block" id="MatrixLieGroup.apply">
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.apply">[docs]</a>
<span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
<span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
<span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Applies group action to a point.</span>

<span class="sd"> Args:</span>
Expand All @@ -404,7 +408,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.MatrixLieGroup.exp">[docs]</a>
<span class="nd">@classmethod</span>
<span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
<span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="k">def</span> <span class="nf">exp</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">tangent</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Computes `expm(wedge(tangent))`.</span>

<span class="sd"> Args:</span>
Expand Down Expand Up @@ -523,7 +527,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<span class="k">def</span> <span class="nf">from_rotation_and_translation</span><span class="p">(</span>
<span class="bp">cls</span><span class="p">,</span>
<span class="n">rotation</span><span class="p">:</span> <span class="n">ContainedSOType</span><span class="p">,</span>
<span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">,</span>
<span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">],</span>
<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Construct a rigid transform from a rotation and a translation.</span>

Expand Down Expand Up @@ -554,7 +558,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.SEBase.from_translation">[docs]</a>
<span class="nd">@final</span>
<span class="nd">@classmethod</span>
<span class="k">def</span> <span class="nf">from_translation</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">translation</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="k">def</span> <span class="nf">from_translation</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">translation</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">Self</span><span class="p">:</span>
<span class="c1"># Extract rotation class from type parameter.</span>
<span class="k">assert</span> <span class="nb">len</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="n">__orig_bases__</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span> <span class="c1"># type: ignore</span>
<span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="n">from_rotation_and_translation</span><span class="p">(</span>
Expand Down Expand Up @@ -583,7 +587,7 @@ <h1>Source code for viser.transforms._base</h1><div class="highlight"><pre>
<a class="viewcode-back" href="../../../../transforms/#viser.transforms.SEBase.apply">[docs]</a>
<span class="nd">@final</span>
<span class="nd">@override</span>
<span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">hints</span><span class="o">.</span><span class="n">Array</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
<span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">onpt</span><span class="o">.</span><span class="n">NDArray</span><span class="p">[</span><span class="n">onp</span><span class="o">.</span><span class="n">floating</span><span class="p">]:</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">rotation</span><span class="p">()</span> <span class="o">@</span> <span class="n">target</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">translation</span><span class="p">()</span> <span class="c1"># type: ignore</span></div>


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