Development branch, release 3.16#365
Open
AlexanderFabisch wants to merge 2 commits into
Open
Conversation
When the rotation angle is exactly pi about a coordinate axis (e.g. R = diag(1,-1,-1)), the skew-symmetric part (R-R^T)/2 is identically zero. np.sign(0) = 0, so the near-pi branch zeroed out the axis before normalisation, causing a divide-by-zero and NaN output.
* Fix slerp_weights numerical overflow for antipodal quaternions * Replace Jacobian series threshold with sqrt(6*eps) * Fix biased covariance estimator in estimate_gaussian_*_from_samples * Fix dead zone and derive tolerances in check_screw_axis * Fix norm_axis_angles docstring: angle range is [0, pi] not [0, pi) * Fix typo and docstring
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Bugfixes