def __init__()

in differentiable_robot_model/spatial_vector_algebra.py [0:0]

• 14 lines of code
• 5 McCabe index (conditional complexity)

    def __init__(self, rot=None, trans=None, device="cpu"):
        self._device = torch.device(device)

        if rot is None:
            self._rot = torch.eye(3, device=self._device)
        else:
            self._rot = rot
        if len(self._rot.shape) == 2:
            self._rot = self._rot.unsqueeze(0)

        if trans is None:
            self._trans = torch.zeros(3, device=self._device)
        else:
            self._trans = trans
        if len(self._trans.shape) == 1:
            self._trans = self._trans.unsqueeze(0)