4115e274df7fceb5aa8810fd40b93b987885160b,scipy/spatial/transform/rotation.py,,compute_euler_from_dcm,#Any#Any#Any#,17

Before Change

    rtc = rt.dot(c)
    ct = c.T
    o = np.empty_like(dcm)
    for ind in range(num_rotations):
        o[ind] = rtc.dot(dcm[ind]).dot(ct)

    // Step 4
    angle2 = lamb + np.arccos(o[:, 2, 2])

    // Steps 5, 6
    eps = np.finfo(float).resolution  // ~1e-15

After Change

    rtc = rt.dot(c)
    ct = c.T
    o = np.empty_like(dcm)
    res = np.einsum("ij,...jk->...ik", rtc, dcm)
    o = np.einsum("...ij,jk->...ik", res, ct)

    // Step 4
    angle2 = lamb + np.arccos(o[:, 2, 2])

Instances