support `has_aux` for manifold gradient functions

brentyi / jaxlie

Rigid transforms + Lie groups in JAX

MIT License

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Closed alvinsunyixiao closed 6 months ago

alvinsunyixiao commented 7 months ago

The current implementation of jaxlie.manifold.grad ignores the has_aux argument. This change fixes this issue.

alvinsunyixiao commented 7 months ago

Hi @brentyi, I am unsure if these CI failures are related to my change. Any pointers?

brentyi commented 7 months ago

Hi Alvin, thanks for the PR! It looks like most of it is just from new versions of black, mypy, etc being available. I can look into it next week!

brentyi commented 6 months ago

Thanks again for the fix @alvinsunyixiao!!