b0d0053b1f1738640fc99fba642c83af42d10b22,tests/test_special_orthogonal_group.py,TestSpecialOrthogonalGroupMethods,test_group_exp_then_log_with_angles_close_to_pi,#TestSpecialOrthogonalGroupMethods#,716

Before Change

                                             tangent_vec=tangent_vec,
                                             base_point=base_point)

                jacobian = self.group.jacobian_translation(
                                                      point=base_point,
                                                      left_or_right="left")
                tangent_vec_at_id = np.dot(np.linalg.inv(jacobian),
                                           tangent_vec)
                tangent_vec_at_id = self.group.regularize(tangent_vec_at_id)
                expected = np.dot(jacobian, tangent_vec_at_id)

                inv_expected = - expected

                self.assertTrue((np.allclose(result, expected)

After Change

                                             tangent_vec=tangent_vec,
                                             base_point=base_point)

                expected = helper.regularize_tangent_vec(
                                             group=self.group,
                                             tangent_vec=tangent_vec,
                                             base_point=base_point)

                inv_expected = - expected

                self.assertTrue((np.allclose(result, expected)

Instances