Add .from_translation() for SE(2), SE(3) classes, bump version

jaxlie/_base.py

@@ -4,7 +4,7 @@
 import jax
 import numpy as onp
 from jax import numpy as jnp
-from typing_extensions import Self, final, override
+from typing_extensions import Self, final, get_args, override
 
 from . import hints
 
@@ -238,6 +238,16 @@ def from_rotation(cls, rotation: ContainedSOType) -> Self:
             ),
         )
 
+    @final
+    @classmethod
+    def from_translation(cls, translation: hints.Array) -> Self:
+        # Extract rotation class from type parameter.
+        assert len(cls.__orig_bases__) == 1  # type: ignore
+        return cls.from_rotation_and_translation(
+            rotation=get_args(cls.__orig_bases__[0])[0].identity(),  # type: ignore
+            translation=translation,
+        )
+
     @abc.abstractmethod
     def rotation(self) -> ContainedSOType:
         """Returns a transform's rotation term."""

setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name="jaxlie",
-    version="1.4.0",
+    version="1.4.1",
     description="Matrix Lie groups in JAX",
     long_description=long_description,
     long_description_content_type="text/markdown",

tests/test_examples.py

@@ -1,11 +1,11 @@
 """Tests with explicit examples."""
 
+import jaxlie
 import numpy as onp
 from hypothesis import given, settings
 from hypothesis import strategies as st
-from utils import assert_arrays_close, assert_transforms_close, sample_transform
 
-import jaxlie
+from utils import assert_arrays_close, assert_transforms_close, sample_transform
 
 
 @settings(deadline=None)
@@ -54,6 +54,18 @@ def test_se3_rotation():
     assert_arrays_close(T_w_b @ p_b, T_w_b_alt @ p_b, p_w)
 
 
+def test_se3_from_translation():
+    """Simple test for SE(3) rotation terms."""
+    T_w_b = jaxlie.SE3.from_rotation_and_translation(
+        rotation=jaxlie.SO3.identity(),
+        translation=onp.arange(3) * 1.0,
+    )
+    T_w_b_alt = jaxlie.SE3.from_translation(onp.arange(3) * 1.0)
+    p_b = onp.array([0.0, 1.0, 0.0])
+    p_w = onp.array([0.0, 2.0, 2.0])
+    assert_arrays_close(T_w_b @ p_b, T_w_b_alt @ p_b, p_w)
+
+
 def test_so3_xyzw_basic():
     """Check that we can create an SO3 object from an xyzw quaternion."""
     assert_transforms_close(