parameters: (self, so3, t)
docstring: internally represented by a unit quaternion q and a translation
              3-vector
docstring_summary: internally represented by a unit quaternion q and a translation
              3-vector
docstring_tokens: internally represented by a unit quaternion q and a translation 3 - vector
function: def __init__(self, so3, t):
          """ internally represented by a unit quaternion q and a translation
              3-vector """
          assert isinstance(so3, sophus.So3)
          assert isinstance(t, sympy.Matrix)
          assert t.shape == (3, 1), t.shape
  
          self.so3 = so3
          self.t = t
function_tokens: def __init__ ( self , so3 , t ) : assert isinstance ( so3 , sophus . So3 ) assert isinstance ( t , sympy . Matrix ) assert t . shape == ( 3 , 1 ) , t . shape self . so3 = so3 self . t = t