2e296adb05f62e4821c36b6f42b1470bdb10eaa6,geomstats/special_euclidean_group.py,SpecialEuclideanGroup,compose,#SpecialEuclideanGroup#Any#Any#,64

Before Change

        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

After Change

        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.zeros((n_compositions, self.n))
        for i in range(n_compositions):
            translation_1_i = (translation_1[0] if n_points_1 == 1
                               else translation_1[i])
            rot_mat_1_i = (rot_mat_1[0] if n_points_1 == 1

Instances