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| 1 | +# ---------------------------------------------------------------------------- |
| 2 | +# SymForce - Copyright 2022, Skydio, Inc. |
| 3 | +# This source code is under the Apache 2.0 license found in the LICENSE file. |
| 4 | +# ---------------------------------------------------------------------------- |
| 5 | +from __future__ import annotations |
| 6 | + |
| 7 | +import dataclasses |
| 8 | + |
| 9 | +from symforce.ops import StorageOps |
| 10 | +from symforce.ops import LieGroupOps |
| 11 | +from symforce.python_util import get_type |
| 12 | +from symforce import typing as T |
| 13 | + |
| 14 | +from .dataclass_group_ops import DataclassGroupOps |
| 15 | + |
| 16 | +if T.TYPE_CHECKING: |
| 17 | + from symforce import geo |
| 18 | + |
| 19 | + |
| 20 | +class DataclassLieGroupOps(DataclassGroupOps): |
| 21 | + @staticmethod |
| 22 | + def tangent_dim(a: T.DataclassOrType) -> int: |
| 23 | + if isinstance(a, type): |
| 24 | + count = 0 |
| 25 | + type_hints_map = T.get_type_hints(a) |
| 26 | + for field in dataclasses.fields(a): |
| 27 | + count += LieGroupOps.tangent_dim(type_hints_map[field.name]) |
| 28 | + return count |
| 29 | + else: |
| 30 | + count = 0 |
| 31 | + for field in dataclasses.fields(a): |
| 32 | + count += LieGroupOps.tangent_dim(getattr(a, field.name)) |
| 33 | + return count |
| 34 | + |
| 35 | + @staticmethod |
| 36 | + def from_tangent( |
| 37 | + a: T.DataclassOrType, vec: T.Sequence[T.Scalar], epsilon: T.Scalar |
| 38 | + ) -> T.Dataclass: |
| 39 | + if isinstance(a, type): |
| 40 | + constructed_fields = {} |
| 41 | + offset = 0 |
| 42 | + type_hints_map = T.get_type_hints(a) |
| 43 | + for field in dataclasses.fields(a): |
| 44 | + field_type = type_hints_map[field.name] |
| 45 | + tangent_dim = LieGroupOps.tangent_dim(field_type) |
| 46 | + constructed_fields[field.name] = LieGroupOps.from_tangent( |
| 47 | + field_type, vec[offset : offset + tangent_dim], epsilon |
| 48 | + ) |
| 49 | + offset += tangent_dim |
| 50 | + return a(**constructed_fields) |
| 51 | + else: |
| 52 | + constructed_fields = {} |
| 53 | + offset = 0 |
| 54 | + for field in dataclasses.fields(a): |
| 55 | + field_instance = getattr(a, field.name) |
| 56 | + tangent_dim = LieGroupOps.tangent_dim(field_instance) |
| 57 | + constructed_fields[field.name] = LieGroupOps.from_tangent( |
| 58 | + field_instance, vec[offset : offset + tangent_dim], epsilon |
| 59 | + ) |
| 60 | + offset += tangent_dim |
| 61 | + return get_type(a)(**constructed_fields) |
| 62 | + |
| 63 | + @staticmethod |
| 64 | + def to_tangent(a: T.Dataclass, epsilon: T.Scalar) -> T.List[T.Scalar]: |
| 65 | + tangent = [] |
| 66 | + for field in dataclasses.fields(a): |
| 67 | + tangent.extend(LieGroupOps.to_tangent(getattr(a, field.name), epsilon)) |
| 68 | + return tangent |
| 69 | + |
| 70 | + @staticmethod |
| 71 | + def storage_D_tangent(a: T.Dataclass) -> geo.Matrix: |
| 72 | + from symforce import geo |
| 73 | + |
| 74 | + mat = geo.Matrix(StorageOps.storage_dim(a), LieGroupOps.tangent_dim(a)) |
| 75 | + s_inx = 0 |
| 76 | + t_inx = 0 |
| 77 | + for field in dataclasses.fields(a): |
| 78 | + field_instance = getattr(a, field.name) |
| 79 | + s_dim = StorageOps.storage_dim(field_instance) |
| 80 | + t_dim = LieGroupOps.tangent_dim(field_instance) |
| 81 | + mat[s_inx : s_inx + s_dim, t_inx : t_inx + t_dim] = LieGroupOps.storage_D_tangent( |
| 82 | + field_instance |
| 83 | + ) |
| 84 | + s_inx += s_dim |
| 85 | + t_inx += t_dim |
| 86 | + return mat |
| 87 | + |
| 88 | + @staticmethod |
| 89 | + def tangent_D_storage(a: T.Dataclass) -> geo.Matrix: |
| 90 | + from symforce import geo |
| 91 | + |
| 92 | + mat = geo.Matrix(LieGroupOps.tangent_dim(a), StorageOps.storage_dim(a)) |
| 93 | + s_inx = 0 |
| 94 | + t_inx = 0 |
| 95 | + for field in dataclasses.fields(a): |
| 96 | + field_instance = getattr(a, field.name) |
| 97 | + s_dim = StorageOps.storage_dim(field_instance) |
| 98 | + t_dim = LieGroupOps.tangent_dim(field_instance) |
| 99 | + mat[t_inx : t_inx + t_dim, s_inx : s_inx + s_dim] = LieGroupOps.tangent_D_storage( |
| 100 | + field_instance |
| 101 | + ) |
| 102 | + s_inx += s_dim |
| 103 | + t_inx += t_dim |
| 104 | + return mat |
| 105 | + |
| 106 | + @staticmethod |
| 107 | + def retract(a: T.Dataclass, vec: T.Sequence[T.Scalar], epsilon: T.Scalar) -> T.Dataclass: |
| 108 | + constructed_fields = {} |
| 109 | + offset = 0 |
| 110 | + for field in dataclasses.fields(a): |
| 111 | + field_instance = getattr(a, field.name) |
| 112 | + tangent_dim = LieGroupOps.tangent_dim(field_instance) |
| 113 | + constructed_fields[field.name] = LieGroupOps.retract( |
| 114 | + field_instance, vec[offset : offset + tangent_dim], epsilon |
| 115 | + ) |
| 116 | + offset += tangent_dim |
| 117 | + return get_type(a)(**constructed_fields) |
| 118 | + |
| 119 | + @staticmethod |
| 120 | + def local_coordinates(a: T.Dataclass, b: T.Dataclass, epsilon: T.Scalar) -> T.List[T.Scalar]: |
| 121 | + assert get_type(a) == get_type(b) |
| 122 | + return [ |
| 123 | + x |
| 124 | + for field in dataclasses.fields(a) |
| 125 | + for x in LieGroupOps.local_coordinates( |
| 126 | + getattr(a, field.name), getattr(b, field.name), epsilon |
| 127 | + ) |
| 128 | + ] |
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