b0d0053b1f1738640fc99fba642c83af42d10b22,geomstats/special_euclidean_group.py,SpecialEuclideanGroup,group_log_from_identity,#SpecialEuclideanGroup#Any#,201

Before Change

            psi = 0.5 * angle * np.sin(angle) / (1 - np.cos(angle))
            coef_2 = (1 - psi) / (angle ** 2)

        group_log[3:6] = (translation
                          + coef_1 * np.dot(translation,
                                            skew_rot_vec.transpose())
                          + coef_2 * np.dot(translation,
                                            sq_skew_rot_vec.transpose()))
        return group_log

    def random_uniform(self):
        

After Change

            psi = 0.5 * angle * np.sin(angle) / (1 - np.cos(angle))
            coef_2 = (1 - psi) / (angle ** 2)

        term_1 = coef_1 * np.dot(translation,
                                 np.transpose(skew_rot_vec, axes=(0, 2, 1)))
        term_2 = coef_2 * np.dot(translation,
                                 np.transpose(sq_skew_rot_vec, axes=(0, 2, 1)))

        group_log[:, 3:6] = translation + term_1 + term_2

Instances