071fb5fb20683946a33f40d28af466f8e9ffc1bd,liegroups/torch/so2.py,SO2,left_jacobian,#Any#Any#,41

Before Change

            A = s / phi[large_angle_inds]
            B = (1. - c) / phi[large_angle_inds]

            jac_large_angle = phi.__class__(
                len(large_angle_inds), cls.dim, cls.dim)
            jac_large_angle[:, 0, 0] = A
            jac_large_angle[:, 0, 1] = -B
            jac_large_angle[:, 1, 0] = B
            jac_large_angle[:, 1, 1] = A

After Change

                jac[large_angle_inds])
            B = ((1. - c) / angle).unsqueeze_(dim=1).unsqueeze_(
                dim=2).expand_as(jac[large_angle_inds]) * \
                cls.wedge(phi.__class__([1.]))

            jac[large_angle_inds] = A + B

Instances