Edge case unit tests for 2D Lie groups

facebookresearch / theseus

A library for differentiable nonlinear optimization

MIT License

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Edge case unit tests for 2D Lie groups #86

Open mhmukadam opened 2 years ago

mhmukadam commented 2 years ago

If I understand correctly, this is to test different corner cases (e.g., near zero tangent vectors). If so, we should also add similar tests for SE2 and SO2 (in a new PR). But agree that adding some small comments here would be useful.

_Originally posted by @luisenp in https://github.com/facebookresearch/theseus/pull/71#discussion_r803052471_

fantaosha commented 2 years ago

Yes, my major concerns are the log_maps around pi. Near zero should not be a problem.