5c2ae503e85bfac2346ea7a562c476c943bb3ec9,geomstats/special_orthogonal_group.py,SpecialOrthogonalGroup,matrix_from_rotation_vector,#SpecialOrthogonalGroup#Any#,198

Before Change

        assert coef_1.shape == (rot_vec.shape[0], 1)
        assert coef_1.shape == (rot_vec.shape[0], 1)

        identity = np.repeat(np.identity(self.dimension),
                             repeats=rot_vec.shape[0],
                             axis=0)

        term_1 = coef_1 * skew_rot_vec
        term_2 = coef_2 * np.matmul(skew_rot_vec, skew_rot_vec)
        rot_mat = identity + term_1 + term_2

After Change

        term_1 = np.zeros((n_rot_vecs, self.n, self.n))
        term_2 = np.zeros_like(term_1)

        for i in range(n_rot_vecs):
            term_1[i] = np.eye(self.dimension) + coef_1[i] * skew_rot_vec[i]
            term_2[i] = coef_2[i] * np.matmul(skew_rot_vec[i], skew_rot_vec[i])
        rot_mat = term_1 + term_2

        rot_mat = closest_rotation_matrix(rot_mat)

Instances