storm_kit.differentiable_robot_model.utils module

bfill_diagonal(A: torch.Tensor, vec: torch.Tensor)[source]
bfill_lowertriangle(A: torch.Tensor, vec: torch.Tensor)[source]
convert_into_at_least_2d_pytorch_tensor(variable)[source]
convert_into_pytorch_tensor(variable)[source]
cross_product(vec3a, vec3b)[source]
exp_map_so3(omega, epsilon=1e-14)[source]
prod(l)
torch_square(x)[source]
vector3_to_skew_symm_matrix(vec3)[source]