:orphan:

:py:mod:`jaxlie.utils._utils`
=============================

.. py:module:: jaxlie.utils._utils


Module Contents
---------------


Functions
~~~~~~~~~

.. autoapisummary::

   jaxlie.utils._utils.get_epsilon
   jaxlie.utils._utils.register_lie_group
   jaxlie.utils._utils.broadcast_leading_axes



Attributes
~~~~~~~~~~

.. autoapisummary::

   jaxlie.utils._utils.T
   jaxlie.utils._utils.TupleOfBroadcastable


.. py:data:: T

   

.. py:function:: get_epsilon(dtype)

   
   Helper for grabbing type-specific precision constants.

   :param dtype: Datatype.

   :returns: Output float.

.. py:function:: register_lie_group(*, matrix_dim, parameters_dim, tangent_dim, space_dim)

   
   Decorator for registering Lie group dataclasses.

   Sets dimensionality class variables, and marks all methods for JIT compilation.

.. py:data:: TupleOfBroadcastable

   

.. py:function:: broadcast_leading_axes(inputs)

   
   Broadcast leading axes of arrays. Takes tuples of either:


   * an array, which we assume has shape (*, D).
   * a Lie group object.