62587f78baec2bf5d5e862909c845cfba75d2730,liegroups/so2.py,SO2,from_matrix,#,22

Before Change

        if not SO2.is_valid_matrix(mat):
            raise ValueError("Invalid rotation matrix")

        return cls(mat)

    @classmethod
    def is_valid_matrix(cls, mat):
        Check if a matrix is a valid rotation matrix.

After Change

    @classmethod
    def from_matrix(cls, mat, normalize=False):
        Create a SO2 object from a 2x2 rotation matrix (safe, but slower).
        mat_is_valid = cls.is_valid_matrix(mat)
        if mat_is_valid:
            result = cls(mat)
        elif not mat_is_valid and normalize:
            result = cls(mat)
            result.normalize()
        else:
            raise ValueError(
                "Invalid rotation matrix. Use normalize=True to handle rounding errors.")

        return result

    @classmethod
    def is_valid_matrix(cls, mat):
        Check if a matrix is a valid rotation matrix.

Instances