Add a matmul overload

Author: eigenvivek

diffdrr/_modidx.py

@@ -87,6 +87,7 @@
                               'diffdrr.pose.RigidTransform.__getitem__': ('api/pose.html#rigidtransform.__getitem__', 'diffdrr/pose.py'),
                               'diffdrr.pose.RigidTransform.__init__': ('api/pose.html#rigidtransform.__init__', 'diffdrr/pose.py'),
                               'diffdrr.pose.RigidTransform.__len__': ('api/pose.html#rigidtransform.__len__', 'diffdrr/pose.py'),
+                              'diffdrr.pose.RigidTransform.__matmul__': ('api/pose.html#rigidtransform.__matmul__', 'diffdrr/pose.py'),
                               'diffdrr.pose.RigidTransform.__new__': ('api/pose.html#rigidtransform.__new__', 'diffdrr/pose.py'),
                               'diffdrr.pose.RigidTransform.compose': ('api/pose.html#rigidtransform.compose', 'diffdrr/pose.py'),
                               'diffdrr.pose.RigidTransform.convert': ('api/pose.html#rigidtransform.convert', 'diffdrr/pose.py'),

diffdrr/pose.py

@@ -39,6 +39,9 @@ def __len__(self):
     def __getitem__(self, idx):
         return type(self)(self.matrix[idx])
 
+    def __matmul__(self, T):
+        return T.compose(self)
+
     def forward(self, x):
         """Apply (a batch) of rigid transforms to a pointcloud."""
         x_pad = torch.nn.functional.pad(x, (0, 1), value=1.0)

notebooks/api/06_pose.ipynb

@@ -123,6 +123,9 @@
     "    def __getitem__(self, idx):\n",
     "        return type(self)(self.matrix[idx])\n",
     "\n",
+    "    def __matmul__(self, T):\n",
+    "        return T.compose(self)\n",
+    "\n",
     "    def forward(self, x):\n",
     "        \"\"\"Apply (a batch) of rigid transforms to a pointcloud.\"\"\"\n",
     "        x_pad = torch.nn.functional.pad(x, (0, 1), value=1.0)\n",