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Add docs from pypose/pypose
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‎docs/preview/pr/363/_modules/index.html‎

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@@ -254,6 +254,7 @@ <h1>All modules for which code is available</h1>
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<li><a href="pypose/module/ekf/">pypose.module.ekf</a></li>
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<li><a href="pypose/module/icp/">pypose.module.icp</a></li>
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<li><a href="pypose/module/imu_preintegrator/">pypose.module.imu_preintegrator</a></li>
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<li><a href="pypose/module/loss/">pypose.module.loss</a></li>
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<li><a href="pypose/module/lqr/">pypose.module.lqr</a></li>
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<li><a href="pypose/module/mpc/">pypose.module.mpc</a></li>
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<li><a href="pypose/module/pf/">pypose.module.pf</a></li>

‎docs/preview/pr/363/_modules/pypose/lietensor/lietensor/index.html‎

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‎docs/preview/pr/363/_modules/pypose/metric/ape_rpe/index.html‎

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@@ -525,7 +525,7 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="k">if</span> <span class="n">otype</span> <span class="o">==</span> <span class="s1">&#39;STD&#39;</span> <span class="ow">or</span> <span class="s1">&#39;All&#39;</span><span class="p">:</span>
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<span class="n">results</span><span class="p">[</span><span class="s1">&#39;STD&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">std</span><span class="p">(</span><span class="n">error</span><span class="o">.</span><span class="n">abs</span><span class="p">())</span>
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<span class="k">if</span> <span class="n">otype</span> <span class="ow">is</span> <span class="s1">&#39;All&#39;</span><span class="p">:</span>
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<span class="k">if</span> <span class="n">otype</span> <span class="o">==</span> <span class="s1">&#39;All&#39;</span><span class="p">:</span>
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<span class="k">return</span> <span class="n">results</span> <span class="c1"># return a dict</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="k">return</span> <span class="n">results</span><span class="p">[</span><span class="n">otype</span><span class="p">]</span> <span class="c1"># return a tensor</span>
@@ -673,17 +673,17 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> etype (``str``, optional):</span>
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<span class="sd"> The type of pose error. Supported options include:</span>
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<span class="sd"> &#39;translation&#39;: :math:`|| t_{e} - t_{r} ||_2`</span>
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<span class="sd"> ``&#39;translation&#39;``: :math:`|| t_{e} - t_{r} ||_2`</span>
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<span class="sd"> &#39;rotation&#39;: :math:`|| R_{e}^T * R_{r} - I_3 ||_2`</span>
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<span class="sd"> ``&#39;rotation&#39;``: :math:`|| R_{e}^T * R_{r} - I_3 ||_2`</span>
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<span class="sd"> &#39;pose&#39;: :math:`|| T_{e}^{-1} * T_{r} - I_4 ||_2`</span>
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<span class="sd"> ``&#39;pose&#39;``: :math:`|| T_{e}^{-1} * T_{r} - I_4 ||_2`</span>
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<span class="sd"> &#39;radian&#39;: :math:`|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2`</span>
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<span class="sd"> ``&#39;radian&#39;``: :math:`|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2`</span>
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<span class="sd"> &#39;degree&#39;: :math:`\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)`</span>
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<span class="sd"> ``&#39;degree&#39;``: :math:`\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)`</span>
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<span class="sd"> Default: &#39;translation&#39;</span>
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<span class="sd"> Default: ``&#39;translation&#39;``</span>
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<span class="sd"> diff (``float``, optional):</span>
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<span class="sd"> The maximum allowed absolute time difference (in seconds)</span>
@@ -710,27 +710,27 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> otype (``str``, optional):</span>
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<span class="sd"> The output type for the metric. Supported options include:</span>
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<span class="sd"> &#39;All&#39;: All metrics will be computed and returned.</span>
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<span class="sd"> ``&#39;All&#39;``: All metrics will be computed and returned.</span>
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<span class="sd"> &#39;Max&#39;: The Max error is computed and returned.</span>
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<span class="sd"> ``&#39;Max&#39;``: The Max error is computed and returned.</span>
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<span class="sd"> &#39;Min&#39;: The Min error is computed and returned.</span>
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<span class="sd"> ``&#39;Min&#39;``: The Min error is computed and returned.</span>
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<span class="sd"> &#39;Mean&#39;: The Mean error is computed and returned.</span>
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<span class="sd"> ``&#39;Mean&#39;``: The Mean error is computed and returned.</span>
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<span class="sd"> &#39;Median&#39;: The Median error is computed and returned.</span>
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<span class="sd"> ``&#39;Median&#39;``: The Median error is computed and returned.</span>
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<span class="sd"> &#39;RMSE&#39;: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> ``&#39;RMSE&#39;``: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> &#39;SSE&#39;: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> ``&#39;SSE&#39;``: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> &#39;STD&#39;: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> ``&#39;STD&#39;``: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> Defaults to &#39;All&#39;.</span>
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<span class="sd"> Defaults to ``&#39;All&#39;``.</span>
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<span class="sd"> Returns:</span>
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<span class="sd"> ``dict`` or ``Tensor``: The computed statistics of the APE (Absolute Pose Error).</span>
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<span class="sd"> The return is a ``dict`` if &quot;otype&quot; is not &#39;all&#39;, otherwise a ``Tensor``.</span>
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<span class="sd"> The return is a ``dict`` if ``otype`` is not ``&#39;all&#39;``, otherwise a ``Tensor``.</span>
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<span class="sd"> Examples:</span>
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<span class="sd"> &gt;&gt;&gt; import torch</span>
@@ -806,17 +806,17 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> etype (``str``, optional):</span>
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<span class="sd"> The type of pose error. Supported options include:</span>
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<span class="sd"> &#39;translation&#39;: :math:`||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2`</span>
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<span class="sd"> ``&#39;translation&#39;``: :math:`||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2`</span>
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<span class="sd"> &#39;rotation&#39;: :math:`|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2`</span>
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<span class="sd"> ``&#39;rotation&#39;``: :math:`|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2`</span>
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<span class="sd"> &#39;pose&#39;: :math:`|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2`</span>
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<span class="sd"> ``&#39;pose&#39;``: :math:`|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2`</span>
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<span class="sd"> &#39;radian&#39;: :math:`|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2`</span>
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<span class="sd"> ``&#39;radian&#39;``: :math:`|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2`</span>
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<span class="sd"> &#39;degree&#39;: :math:`\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))`</span>
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<span class="sd"> ``&#39;degree&#39;``: :math:`\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))`</span>
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<span class="sd"> Default: &#39;translation&#39;</span>
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<span class="sd"> Default: ``&#39;translation&#39;``</span>
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<span class="sd"> diff (``float``, optional):</span>
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<span class="sd"> The maximum allowed absolute time difference (in seconds)</span>
@@ -858,27 +858,27 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> otype (``str``, optional):</span>
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<span class="sd"> The output type for the metric. Supported options include:</span>
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<span class="sd"> &#39;All&#39;: All metrics will be computed and returned.</span>
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<span class="sd"> ``&#39;All&#39;``: All metrics will be computed and returned.</span>
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<span class="sd"> &#39;Max&#39;: The Max error is computed and returned.</span>
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<span class="sd"> ``&#39;Max&#39;``: The Max error is computed and returned.</span>
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<span class="sd"> &#39;Min&#39;: The Min error is computed and returned.</span>
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<span class="sd"> ``&#39;Min&#39;``: The Min error is computed and returned.</span>
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<span class="sd"> &#39;Mean&#39;: The Mean error is computed and returned.</span>
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<span class="sd"> ``&#39;Mean&#39;``: The Mean error is computed and returned.</span>
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<span class="sd"> &#39;Median&#39;: The Median error is computed and returned.</span>
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<span class="sd"> ``&#39;Median&#39;``: The Median error is computed and returned.</span>
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<span class="sd"> &#39;RMSE&#39;: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> ``&#39;RMSE&#39;``: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> &#39;SSE&#39;: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> ``&#39;SSE&#39;``: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> &#39;STD&#39;: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> ``&#39;STD&#39;``: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> Defaults to &#39;All&#39;.</span>
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<span class="sd"> Defaults to ``&#39;All&#39;``.</span>
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<span class="sd"> Returns:</span>
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<span class="sd"> ``dict`` or ``Tensor``: The computed statistics of the RPE (Relative Pose Error).</span>
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<span class="sd"> The return is a ``dict`` if &quot;otype&quot; is not &#39;all&#39;, otherwise a ``Tensor``.</span>
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<span class="sd"> The return is a ``dict`` if ``otype`` is not ``&#39;all&#39;``, otherwise a ``Tensor``.</span>
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<span class="sd"> Examples:</span>
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<span class="sd"> &gt;&gt;&gt; import torch</span>

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