Rename annotations => hints

jaxlie/__init__.py

@@ -1,12 +1,12 @@
-from . import annotations, manifold, utils
+from . import hints, manifold, utils
 from ._base import MatrixLieGroup, SEBase, SOBase
 from ._se2 import SE2
 from ._se3 import SE3
 from ._so2 import SO2
 from ._so3 import SO3
 
 __all__ = [
-    "annotations",
+    "hints",
     "manifold",
     "utils",
     "MatrixLieGroup",

jaxlie/_base.py

@@ -6,7 +6,7 @@
 from jax import numpy as jnp
 from overrides import EnforceOverrides, final, overrides
 
-from . import annotations
+from . import hints
 
 GroupType = TypeVar("GroupType", bound="MatrixLieGroup")
 SEGroupType = TypeVar("SEGroupType", bound="SEBase")
@@ -44,7 +44,7 @@ def __matmul__(self: GroupType, other: GroupType) -> GroupType:
         ...
 
     @overload
-    def __matmul__(self: GroupType, other: annotations.Vector) -> annotations.Vector:
+    def __matmul__(self: GroupType, other: hints.Vector) -> hints.Vector:
         ...
 
     def __matmul__(self, other):
@@ -68,16 +68,16 @@ def identity(cls: Type[GroupType]) -> GroupType:
         """Returns identity element.
 
         Returns:
-            annotations.Matrix: Identity.
+            hints.Matrix: Identity.
         """
 
     @classmethod
     @abc.abstractmethod
-    def from_matrix(cls: Type[GroupType], matrix: annotations.Matrix) -> GroupType:
+    def from_matrix(cls: Type[GroupType], matrix: hints.Matrix) -> GroupType:
         """Get group member from matrix representation.
 
         Args:
-            matrix (jnp.ndarray): annotations.Matrix representaiton.
+            matrix (jnp.ndarray): hints.Matrix representaiton.
 
         Returns:
             GroupType: Group member.
@@ -86,24 +86,24 @@ def from_matrix(cls: Type[GroupType], matrix: annotations.Matrix) -> GroupType:
     # Accessors
 
     @abc.abstractmethod
-    def as_matrix(self) -> annotations.Matrix:
+    def as_matrix(self) -> hints.Matrix:
         """Get transformation as a matrix. Homogeneous for SE groups."""
 
     @abc.abstractmethod
-    def parameters(self) -> annotations.Vector:
+    def parameters(self) -> hints.Vector:
         """Get underlying representation."""
 
     # Operations
 
     @abc.abstractmethod
-    def apply(self: GroupType, target: annotations.Vector) -> annotations.Vector:
+    def apply(self: GroupType, target: hints.Vector) -> hints.Vector:
         """Applies the group action.
 
         Args:
-            target (annotations.Vector): annotations.Vector to transform.
+            target (hints.Vector): hints.Vector to transform.
 
         Returns:
-            annotations.Vector: Transformed vector.
+            hints.Vector: Transformed vector.
         """
 
     @abc.abstractmethod
@@ -119,26 +119,26 @@ def multiply(self: GroupType, other: GroupType) -> GroupType:
 
     @classmethod
     @abc.abstractmethod
-    def exp(cls: Type[GroupType], tangent: annotations.TangentVector) -> GroupType:
+    def exp(cls: Type[GroupType], tangent: hints.TangentVector) -> GroupType:
         """Computes `expm(wedge(tangent))`.
 
         Args:
-            tangent (annotations.TangentVector): Input.
+            tangent (hints.TangentVector): Input.
 
         Returns:
             MatrixLieGroup: Output.
         """
 
     @abc.abstractmethod
-    def log(self: GroupType) -> annotations.TangentVector:
+    def log(self: GroupType) -> hints.TangentVector:
         """Computes `vee(logm(transformation matrix))`.
 
         Returns:
-            annotations.TangentVector: Output. Shape should be `(tangent_dim,)`.
+            hints.TangentVector: Output. Shape should be `(tangent_dim,)`.
         """
 
     @abc.abstractmethod
-    def adjoint(self: GroupType) -> annotations.Matrix:
+    def adjoint(self: GroupType) -> hints.Matrix:
         """Computes the adjoint, which transforms tangent vectors between tangent spaces.
 
         More precisely, for a transform `GroupType`:
@@ -150,15 +150,15 @@ def adjoint(self: GroupType) -> annotations.Matrix:
         between our spatial and body representations.
 
         Returns:
-            annotations.Matrix: Output. Shape should be `(tangent_dim, tangent_dim)`.
+            hints.Matrix: Output. Shape should be `(tangent_dim, tangent_dim)`.
         """
 
     @abc.abstractmethod
     def inverse(self: GroupType) -> GroupType:
         """Computes the inverse of our transform.
 
         Returns:
-            annotations.Matrix: Output.
+            hints.Matrix: Output.
         """
 
     @abc.abstractmethod
@@ -195,7 +195,7 @@ class SEBase(MatrixLieGroup):
     @abc.abstractmethod
     def from_rotation_and_translation(
         rotation: SOBase,
-        translation: annotations.Vector,
+        translation: hints.Vector,
     ) -> SEGroupType:
         """Construct a rigid transform from a rotation and a translation."""
 
@@ -204,14 +204,14 @@ def rotation(self) -> SOBase:
         """Returns a transform's rotation term."""
 
     @abc.abstractmethod
-    def translation(self) -> annotations.Vector:
+    def translation(self) -> hints.Vector:
         """Returns a transform's translation term."""
 
     # Overrides
 
     @final
     @overrides
-    def apply(self, target: annotations.Vector) -> annotations.Vector:
+    def apply(self, target: hints.Vector) -> hints.Vector:
         return self.rotation() @ target + self.translation()
 
     @final

jaxlie/_se2.py

@@ -4,7 +4,7 @@
 from jax import numpy as jnp
 from overrides import overrides
 
-from . import _base, annotations
+from . import _base, hints
 from ._so2 import SO2
 from .utils import get_epsilon, register_lie_group
 
@@ -21,7 +21,7 @@ class SE2(_base.SEBase):
 
     # SE2-specific
 
-    unit_complex_xy: annotations.Vector
+    unit_complex_xy: hints.Vector
     """Internal parameters. `(cos, sin, x, y)`."""
 
     @overrides
@@ -31,9 +31,7 @@ def __repr__(self) -> str:
         return f"{self.__class__.__name__}(unit_complex={unit_complex}, xy={xy})"
 
     @staticmethod
-    def from_xy_theta(
-        x: annotations.Scalar, y: annotations.Scalar, theta: annotations.Scalar
-    ) -> "SE2":
+    def from_xy_theta(x: hints.Scalar, y: hints.Scalar, theta: hints.Scalar) -> "SE2":
         cos = jnp.cos(theta)
         sin = jnp.sin(theta)
         return SE2(unit_complex_xy=jnp.array([cos, sin, x, y]))
@@ -44,7 +42,7 @@ def from_xy_theta(
     @overrides
     def from_rotation_and_translation(
         rotation: SO2,
-        translation: annotations.Vector,
+        translation: hints.Vector,
     ) -> "SE2":
         assert translation.shape == (2,)
         return SE2(
@@ -56,7 +54,7 @@ def rotation(self) -> SO2:
         return SO2(unit_complex=self.unit_complex_xy[..., :2])
 
     @overrides
-    def translation(self) -> annotations.Vector:
+    def translation(self) -> hints.Vector:
         return self.unit_complex_xy[..., 2:]
 
     # Factory
@@ -68,7 +66,7 @@ def identity() -> "SE2":
 
     @staticmethod
     @overrides
-    def from_matrix(matrix: annotations.Matrix) -> "SE2":
+    def from_matrix(matrix: hints.Matrix) -> "SE2":
         assert matrix.shape == (3, 3)
         # Currently assumes bottom row is [0, 0, 1]
         return SE2.from_rotation_and_translation(
@@ -79,11 +77,11 @@ def from_matrix(matrix: annotations.Matrix) -> "SE2":
     # Accessors
 
     @overrides
-    def parameters(self) -> annotations.Vector:
+    def parameters(self) -> hints.Vector:
         return self.unit_complex_xy
 
     @overrides
-    def as_matrix(self) -> annotations.Matrix:
+    def as_matrix(self) -> hints.Matrix:
         cos, sin, x, y = self.unit_complex_xy
         return jnp.array(
             [
@@ -97,7 +95,7 @@ def as_matrix(self) -> annotations.Matrix:
 
     @staticmethod
     @overrides
-    def exp(tangent: annotations.TangentVector) -> "SE2":
+    def exp(tangent: hints.TangentVector) -> "SE2":
         # Reference:
         # > https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se2.hpp#L558
         # Also see:
@@ -131,7 +129,7 @@ def exp(tangent: annotations.TangentVector) -> "SE2":
         )
 
     @overrides
-    def log(self: "SE2") -> annotations.TangentVector:
+    def log(self: "SE2") -> hints.TangentVector:
         # Reference:
         # > https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se2.hpp#L160
         # Also see:
@@ -162,7 +160,7 @@ def log(self: "SE2") -> annotations.TangentVector:
         return tangent
 
     @overrides
-    def adjoint(self: "SE2") -> annotations.Matrix:
+    def adjoint(self: "SE2") -> hints.Matrix:
         cos, sin, x, y = self.unit_complex_xy
         return jnp.array(
             [

jaxlie/_se3.py

@@ -4,12 +4,12 @@
 from jax import numpy as jnp
 from overrides import overrides
 
-from . import _base, annotations
+from . import _base, hints
 from ._so3 import SO3
 from .utils import get_epsilon, register_lie_group
 
 
-def _skew(omega: annotations.Vector) -> annotations.Matrix:
+def _skew(omega: hints.Vector) -> hints.Matrix:
     """Returns the skew-symmetric form of a length-3 vector. """
 
     wx, wy, wz = omega
@@ -34,7 +34,7 @@ class SE3(_base.SEBase):
 
     # SE3-specific
 
-    wxyz_xyz: annotations.Vector
+    wxyz_xyz: hints.Vector
     """Internal parameters. wxyz quaternion followed by xyz translation."""
 
     @overrides
@@ -49,7 +49,7 @@ def __repr__(self) -> str:
     @overrides
     def from_rotation_and_translation(
         rotation: SO3,
-        translation: annotations.Vector,
+        translation: hints.Vector,
     ) -> "SE3":
         assert translation.shape == (3,)
         return SE3(wxyz_xyz=jnp.concatenate([rotation.wxyz, translation]))
@@ -59,7 +59,7 @@ def rotation(self) -> SO3:
         return SO3(wxyz=self.wxyz_xyz[..., :4])
 
     @overrides
-    def translation(self) -> annotations.Vector:
+    def translation(self) -> hints.Vector:
         return self.wxyz_xyz[..., 4:]
 
     # Factory
@@ -71,7 +71,7 @@ def identity() -> "SE3":
 
     @staticmethod
     @overrides
-    def from_matrix(matrix: annotations.Matrix) -> "SE3":
+    def from_matrix(matrix: hints.Matrix) -> "SE3":
         assert matrix.shape == (4, 4)
         # Currently assumes bottom row is [0, 0, 0, 1]
         return SE3.from_rotation_and_translation(
@@ -82,7 +82,7 @@ def from_matrix(matrix: annotations.Matrix) -> "SE3":
     # Accessors
 
     @overrides
-    def as_matrix(self) -> annotations.Matrix:
+    def as_matrix(self) -> hints.Matrix:
         return (
             jnp.eye(4)
             .at[:3, :3]
@@ -92,14 +92,14 @@ def as_matrix(self) -> annotations.Matrix:
         )
 
     @overrides
-    def parameters(self) -> annotations.Vector:
+    def parameters(self) -> hints.Vector:
         return self.wxyz_xyz
 
     # Operations
 
     @staticmethod
     @overrides
-    def exp(tangent: annotations.TangentVector) -> "SE3":
+    def exp(tangent: hints.TangentVector) -> "SE3":
         # Reference:
         # > https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se3.hpp#L761
 
@@ -130,7 +130,7 @@ def exp(tangent: annotations.TangentVector) -> "SE3":
         )
 
     @overrides
-    def log(self: "SE3") -> annotations.TangentVector:
+    def log(self: "SE3") -> hints.TangentVector:
         # Reference:
         # > https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/sophus/se3.hpp#L223
         omega = self.rotation().log()
@@ -153,7 +153,7 @@ def log(self: "SE3") -> annotations.TangentVector:
         return jnp.concatenate([V_inv @ self.translation(), omega])
 
     @overrides
-    def adjoint(self: "SE3") -> annotations.Matrix:
+    def adjoint(self: "SE3") -> hints.Matrix:
         R = self.rotation().as_matrix()
         return jnp.block(
             [