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brentyi / jaxlie

Rigid transforms + Lie groups in JAX
MIT License
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Feature request for different Euler angle conventions #16

Open mjo22 opened 5 months ago

mjo22 commented 5 months ago

Hello! I would like to make a feature request for converting and instantiating SO3 objects to and from different euler angle conventions.

This proposal could replace SO3.from_rpy_radians with SO3.from_euler_radians, and similarly for SO3.as_rpy_radians. This new method could have a “convention” optional argument, which specifies the sequence of rotations. It could follow from the from_euler and as_euler methods here: https://jax.readthedocs.io/en/latest/_autosummary/jax.scipy.spatial.transform.Rotation.html

brentyi commented 5 months ago

This makes sense to me!

Do you have time for a PR? I can also take a stab at it at some point if you don't, it might just take a little while.

mjo22 commented 5 months ago

I won’t be able to get to it for a little while as well. Will try to take a stab at it sometime this month! If you want to give it a shot before I get to it, that would be awesome.