Add docs from pypose/pypose

docs/preview/pr/353/_modules/pypose/lietensor/convert/index.html

@@ -1072,8 +1072,8 @@ <h1>Source code for pypose.lietensor.convert</h1><div class="highlight"><pre>
 
 <div class="viewcode-block" id="quat2unit"><a class="viewcode-back" href="../../../../generated/pypose.quat2unit/#pypose.quat2unit">[docs]</a><span class="k">def</span> <span class="nf">quat2unit</span><span class="p">(</span><span class="nb">input</span><span class="p">:</span> <span class="n">LieTensor</span><span class="p">,</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-12</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">LieTensor</span><span class="p">:</span>
 <span class="w">    </span><span class="sa">r</span><span class="sd">&#39;&#39;&#39;</span>
-<span class="sd">    Normalize the quaternion part of a ``LieTensor``, which has to be a Lie Group.</span>
-<span class="sd">    If input is a Lie algebra, then do nothing and return the input tensor.</span>
+<span class="sd">    Normalize the quaternion part of a ``LieTensor``, which has to be a Lie group.</span>
+<span class="sd">    If input is a not a Lie group, then do nothing and return the input.</span>
 <span class="sd">    If the quaternion parts are zeros, then initilize identity quaternions.</span>
 
 <span class="sd">    The quaternion parts :math:`v` are normalized as</span>
@@ -1090,11 +1090,7 @@ <h1>Source code for pypose.lietensor.convert</h1><div class="highlight"><pre>
 <span class="sd">    Return:</span>
 <span class="sd">        :obj:`LieTensor`: the output LieTensor.</span>
 <span class="sd">    &#39;&#39;&#39;</span>
-    <span class="k">assert</span> <span class="nb">isinstance</span><span class="p">(</span><span class="nb">input</span><span class="p">,</span> <span class="n">LieTensor</span><span class="p">),</span> <span class="s2">&quot;Input should be a LieTensor&quot;</span>
-
-    <span class="k">if</span> <span class="nb">input</span><span class="o">.</span><span class="n">ltype</span> <span class="ow">in</span> <span class="n">liealgebra</span><span class="p">:</span>
-        <span class="k">return</span> <span class="nb">input</span>
-    <span class="k">elif</span> <span class="nb">input</span><span class="o">.</span><span class="n">ltype</span> <span class="ow">in</span> <span class="n">liegroup</span><span class="p">:</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="nb">input</span><span class="p">,</span> <span class="n">LieTensor</span><span class="p">)</span> <span class="ow">and</span> <span class="p">(</span><span class="nb">input</span><span class="o">.</span><span class="n">ltype</span> <span class="ow">in</span> <span class="n">liegroup</span><span class="p">):</span>
         <span class="n">data</span> <span class="o">=</span> <span class="nb">input</span><span class="o">.</span><span class="n">tensor</span><span class="p">()</span>
         <span class="k">if</span> <span class="nb">input</span><span class="o">.</span><span class="n">ltype</span> <span class="ow">in</span> <span class="p">[</span><span class="n">SO3_type</span><span class="p">,</span> <span class="n">RxSO3_type</span><span class="p">]:</span>
             <span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">4</span><span class="p">]</span> <span class="o">=</span> <span class="n">normalize</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">4</span><span class="p">],</span> <span class="n">p</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span> <span class="n">eps</span><span class="o">=</span><span class="n">eps</span><span class="p">)</span>
@@ -1105,7 +1101,8 @@ <h1>Source code for pypose.lietensor.convert</h1><div class="highlight"><pre>
             <span class="n">output</span><span class="o">.</span><span class="n">rotation</span><span class="p">()</span><span class="o">.</span><span class="n">identity_</span><span class="p">()</span>
         <span class="k">return</span> <span class="n">output</span>
     <span class="k">else</span><span class="p">:</span>
-        <span class="k">raise</span> <span class="s2">&quot;LieType of Input LieTensor not recognized.&quot;</span></div>
+        <span class="n">warnings</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Input is not Lie group, doing thing and returning input..&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="nb">input</span></div>
 </pre></div>
 
              </article>

docs/preview/pr/353/convert/index.html

@@ -288,7 +288,7 @@ <h1>Convert<a class="headerlink" href="#convert" title="Permalink to this headin
 <td><p>Convert a <a class="reference internal" href="../generated/pypose.LieTensor/#pypose.LieTensor" title="pypose.LieTensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">LieTensor</span></code></a> into matrix form.</p></td>
 </tr>
 <tr class="row-even"><td><p><a class="reference internal" href="../generated/pypose.quat2unit/#pypose.quat2unit" title="pypose.quat2unit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat2unit</span></code></a></p></td>
-<td><p>Normalize the quaternion part of a <code class="docutils literal notranslate"><span class="pre">LieTensor</span></code>, which has to be a Lie Group.</p></td>
+<td><p>Normalize the quaternion part of a <code class="docutils literal notranslate"><span class="pre">LieTensor</span></code>, which has to be a Lie group.</p></td>
 </tr>
 <tr class="row-odd"><td><p><a class="reference internal" href="../generated/pypose.cart2homo/#pypose.cart2homo" title="pypose.cart2homo"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cart2homo</span></code></a></p></td>
 <td><p>Converts batched Cartesian coordinates to Homogeneous coordinates by adding ones to last dimension.</p></td>

docs/preview/pr/353/generated/pypose.quat2unit/index.html

@@ -251,8 +251,8 @@ <h1>pypose.quat2unit<a class="headerlink" href="#pypose-quat2unit" title="Permal
 <dl class="py function">
 <dt class="sig sig-object py" id="pypose.quat2unit">
 <span class="sig-prename descclassname"><span class="pre">pypose.</span></span><span class="sig-name descname"><span class="pre">quat2unit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">input</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">eps</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-12</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../_modules/pypose/lietensor/convert/#quat2unit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#pypose.quat2unit" title="Permalink to this definition">¶</a></dt>
-<dd><p>Normalize the quaternion part of a <code class="docutils literal notranslate"><span class="pre">LieTensor</span></code>, which has to be a Lie Group.
-If input is a Lie algebra, then do nothing and return the input tensor.
+<dd><p>Normalize the quaternion part of a <code class="docutils literal notranslate"><span class="pre">LieTensor</span></code>, which has to be a Lie group.
+If input is a not a Lie group, then do nothing and return the input.
 If the quaternion parts are zeros, then initilize identity quaternions.</p>
 <p>The quaternion parts <span class="math">\(v\)</span> are normalized as</p>
 <div class="math">