__init__.py

from packaging import version

from ._version import __version__

from .lietensor import LieTensor, Parameter, SO3, so3, SE3, se3, Sim3, sim3, RxSO3, rxso3
from .lietensor import randn_like, randn_SE3, randn_SO3, randn_so3, randn_se3
from .lietensor import randn_Sim3, randn_sim3, randn_RxSO3, randn_rxso3
from .lietensor import identity_like, identity_SO3, identity_so3, identity_SE3, identity_se3
from .lietensor import identity_Sim3, identity_sim3, identity_RxSO3, identity_rxso3
from .lietensor import add, add_, mul, Exp, Log, Inv, Mul, Retr, Act, Adj, AdjT, Jinvp, Jr
from .lietensor import SO3_type, so3_type, SE3_type, se3_type
from .lietensor import Sim3_type, sim3_type, RxSO3_type, rxso3_type
from .lietensor import tensor, translation, rotation, scale, matrix, euler, quat2unit
from .lietensor import mat2SO3, mat2SE3, mat2Sim3, mat2RxSO3, from_matrix, matrix, euler2SO3, vec2skew
from .lietensor.lietensor import retain_ltype
from . import func
from .function import *
from .basics import *
from .sparse import *
from . import module
from . import optim
from . import testing


min_torch = '2.0'
assert version.parse(min_torch) <= version.parse(torch.__version__), \
    f'PyTorch=={torch.__version__} is used but incompatible. ' \
    f'Please install torch>={min_torch}.'