search

brentyi / jaxlie

Rigid transforms + Lie groups in JAX
MIT License
209 stars 15 forks source link

SE3 not multiplying properly? #12

Closed tjltjl closed 8 months ago

tjltjl commented 8 months ago

When multiplying SE2 elements, the translation gets properly transformed. With SE3, the translations are not properly transformed when multiplying:

image

As you can see, in the second part, the translation stays constant which it shouldn't

tjltjl commented 8 months ago

Oops, my bad... On X rotation doesn't change X...