53753337fc53532e2c35ed70c49fef23aa0510f4,tests/test_special_orthogonal_group.py,TestSpecialOrthogonalGroupMethods,test_group_exp_then_log,#TestSpecialOrthogonalGroupMethods#,514

Before Change

                                             group=self.group,
                                             tangent_vec=point,
                                             base_point=base_point)
                expected = point
                inv_expected = - expected

                self.assertTrue((np.allclose(result, expected)
                                 or np.allclose(result, inv_expected)),
                                "\n- on point {}: {} -> {}\n"
                                "- base_point {}: {} -> {}\n"
                                "result = {} -> {}\n"
                                "expected = {} -> {}".format(
                                 angle_type,
                                 point, self.group.regularize(point),
                                 angle_type_base,
                                 base_point, self.group.regularize(base_point),
                                 result, self.group.regularize(result),
                                 expected, self.group.regularize(expected)))

                if np.allclose(result, inv_expected):
                    if np.linalg.norm(inv_expected - expected) > 1e-5:
                        logging.warning("Test group_exp_then_log passed only "
                                        " w. the assumption:\n"
                                        " rotvec = -rotvec "
                                        "for a point {} "
                                        "and base_point {}.".format(
                                                        angle_type,
                                                        angle_type_base))

    def test_group_log_then_exp(self):
        
        This tests that the composition of
        log and exp gives identity.

After Change

                tangent_vec_at_id = np.dot(np.linalg.inv(jacobian),
                                           tangent_vec)
                tangent_vec_at_id = self.group.regularize(tangent_vec_at_id)
                expected = np.dot(jacobian, tangent_vec_at_id)

                self.assertTrue(np.allclose(result, expected, atol=1e-6),
                                "\n- on point {}: {} -> {}\n"
                                "- base_point {}: {} -> {}\n"

Instances