53753337fc53532e2c35ed70c49fef23aa0510f4,tests/test_special_orthogonal_group.py,TestSpecialOrthogonalGroupMethods,test_exp_then_log,#TestSpecialOrthogonalGroupMethods#,380

Before Change

        for metric_type in self.metrics.keys():
            for angle_type in self.points.keys():
                if angle_type == "with_angle_pi":
                    continue
                for angle_type_base in self.points.keys():
                    if angle_type_base == "with_angle_pi":
                        continue

After Change

                    result = helper.exp_then_log(metric=metric,
                                                 tangent_vec=tangent_vec,
                                                 base_point=base_point)
                    jacobian = self.group.jacobian_translation(
                                                          point=base_point,
                                                          left_or_right="left")
                    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),
                                    "\nmetric {}:\n"
                                    "- on point {}: {} -> {}\n"

Instances