def forward()

in differentiable_robot_model/rigid_body_params.py [0:0]

• 26 lines of code
• 1 McCabe index (conditional complexity)

    def forward(self):
        raw_l_input = self.l.unsqueeze(0)
        [spsd_3d_cov_inertia_matrix, _] = super().get_symm_pos_semi_def_matrix_and_l(
            raw_l_input=raw_l_input
        )
        spsd_3d_cov_inertia_matrix = spsd_3d_cov_inertia_matrix.squeeze()
        spd_3d_cov_inertia_matrix = spsd_3d_cov_inertia_matrix + (
            self.spd_3d_cov_inertia_mat_diag_bias * torch.eye(3, device=self.l.device)
        )
        inertia_matrix = spd_3d_cov_inertia_matrix.new_zeros((3, 3))
        inertia_matrix[0, 0] = (
            spd_3d_cov_inertia_matrix[1, 1] + spd_3d_cov_inertia_matrix[2, 2]
        )
        inertia_matrix[1, 1] = (
            spd_3d_cov_inertia_matrix[0, 0] + spd_3d_cov_inertia_matrix[2, 2]
        )
        inertia_matrix[2, 2] = (
            spd_3d_cov_inertia_matrix[0, 0] + spd_3d_cov_inertia_matrix[1, 1]
        )
        inertia_matrix[1, 0] = -spd_3d_cov_inertia_matrix[1, 0]
        inertia_matrix[2, 0] = -spd_3d_cov_inertia_matrix[2, 0]
        inertia_matrix[2, 1] = -spd_3d_cov_inertia_matrix[2, 1]
        inertia_matrix[0, 1] = inertia_matrix[1, 0]
        inertia_matrix[0, 2] = inertia_matrix[2, 0]
        inertia_matrix[1, 2] = inertia_matrix[2, 1]
        return inertia_matrix