edcbc642ae1518a049471747fd89909c5f841b84,geomstats/special_euclidean_group.py,SpecialEuclideanGroup,exponential_matrix,#SpecialEuclideanGroup#Any#,422

Before Change

        angle = np.linalg.norm(rot_vec, axis=1)
        if angle.ndim == 1:
            angle = np.expand_dims(angle, axis=1)
        assert angle.shape == (n_rot_vecs, 1), angle.shape
        skew_rot_vec = so_group.skew_matrix_from_vector(rot_vec)

        coef_1 = np.empty_like(angle)
        coef_2 = np.empty_like(coef_1)

After Change

        n_rot_vecs, _ = rot_vec.shape

        angle = np.linalg.norm(rot_vec, axis=1)
        angle = vectorization_utils.expand_dims(angle, to_ndim=2, axis=1)

        skew_rot_vec = so_group.skew_matrix_from_vector(rot_vec)

        coef_1 = np.empty_like(angle)

Instances