e323fcf525feda3f30b6cb61f21368ed7eab0299,geomstats/special_euclidean_group.py,SpecialEuclideanGroup,compose,#SpecialEuclideanGroup#Any#Any#,64

Before Change

        translation_1 = point_1[:, dim_rotations:]
        translation_2 = point_2[:, dim_rotations:]

        composition = np.zeros_like(point_1)
        composition_rot_mat = np.matmul(rot_mat_1, rot_mat_2)

        composition[:, :dim_rotations] = rotations.rotation_vector_from_matrix(
                                                          composition_rot_mat)
        composition[:, dim_rotations:] = (np.dot(translation_2,
                                                 np.transpose(

After Change

        translation_1 = point_1[:, dim_rotations:]
        translation_2 = point_2[:, dim_rotations:]

        composition = np.zeros((np.maximum(n_points_1, n_points_2),
                               self.dimension))
        composition_rot_mat = np.matmul(rot_mat_1, rot_mat_2)
        composition_rot_vec = rotations.rotation_vector_from_matrix(
                                                          composition_rot_mat)
        composition_translation = (np.dot(translation_2,
                                          np.transpose(rot_mat_1,
                                                       axes=(0, 2, 1)))
                                   + translation_1)
        composition_translation = np.squeeze(composition_translation, axis=1)

        composition[:, :dim_rotations] = composition_rot_vec
        composition[:, dim_rotations:] = composition_translation

        composition = self.regularize(composition)

Instances