071fb5fb20683946a33f40d28af466f8e9ffc1bd,liegroups/numpy/so2.py,SO2,left_jacobian,#Any#Any#,35

Before Change

        s = np.sin(phi)
        c = np.cos(phi)

        return (1. / phi) * np.array([[s, -(1 - c)],
                                      [1 - c, s]])

    @classmethod
    def inv_left_jacobian(cls, phi):
        (see Barfoot/Eade).

After Change

        c = np.cos(phi)

        return (s / phi) * np.identity(cls.dim) + \
            ((1 - c) / phi) * cls.wedge(1.)

    @classmethod
    def inv_left_jacobian(cls, phi):
        SO(2) inverse left Jacobian.

Instances