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

Before Change

            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
            jac[large_angle_inds] = jac_large_angle

After Change

        if len(large_angle_inds) > 0:
            angle = phi[large_angle_inds]
            s = angle.sin()
            c = angle.cos()

            A = (s / angle).unsqueeze_(dim=1).unsqueeze_(
                dim=2).expand_as(jac[large_angle_inds]) * \
                torch.eye(cls.dim).unsqueeze_(dim=0).expand_as(
                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

        return jac.squeeze_()

    @classmethod

Instances