bc965b86fac1a028ecc18c0e3dfd98c08ae57f9a,geomstats/special_orthogonal_group.py,SpecialOrthogonalGroup,quaternion_from_rotation_vector,#SpecialOrthogonalGroup#Any#,647

Before Change

        rotation_axis[mask_not_0] = rot_vec[mask_not_0] / angle[mask_not_0]

        n_quaternions, _ = rot_vec.shape
        quaternion = gs.zeros((n_quaternions, 4))
        quaternion[:, :1] = gs.cos(angle / 2)
        quaternion[:, 1:] = gs.sin(angle / 2) * rotation_axis[:]

        return quaternion

After Change

        rotation_axis = gs.divide(rot_vec,
                                  angle *
                                  gs.cast(mask_not_0, gs.float32) +
                                  gs.cast(mask_0, gs.float32))

        quaternion = gs.concatenate((gs.cos(angle / 2),
                        gs.sin(angle / 2) * rotation_axis[:]), axis=1)

Instances