d496aaefc795e176b615815e9f30f335860f013b,geomstats/lie_group.py,LieGroup,group_exp,#LieGroup#Any#Any#,48

Before Change

        Compute the group exponential at point base_point
        of tangent vector tangent_vec.
        
        if base_point is None:
            return self.group_exp(tangent_vec, self.identity)
        else:
            raise NotImplementedError(
                "The group exponential is not implemented.")

    def group_log(self, point, base_point=None):
        
        Compute the group logarithm at point base_point
        of the point point.

After Change

        base_point = self.regularize(base_point)

        if base_point is self.identity:
            group_exp = self.group_exp_from_identity(tangent_vec)
        else:

            jacobian = self.jacobian_translation(point=base_point,
                                                 left_or_right="left")
            inv_jacobian = np.linalg.inv(jacobian)

            tangent_vec_at_identity = np.dot(inv_jacobian, tangent_vec)
            group_exp_from_identity = self.group_exp_from_identity(
                                           tangent_vec=tangent_vec_at_identity)

            group_exp = self.compose(base_point,
                                     group_exp_from_identity)
        group_exp = self.regularize(group_exp)
        return group_exp

    def group_log_from_identity(self, point):
        
        Compute the group logarithm

Instances