784586f02d063d39360a287422a6384f30f10d12,liegroups/so2.py,SO2,wedge,#,51

Before Change

        This is the inverse operation to SO2.vee.
        
        return np.array([[0, -phi],
                         [phi, 0]])

    @classmethod
    def vee(cls, Phi):
        SO(2) vee operator as defined by Barfoot.

After Change

        
        phi = np.atleast_1d(phi)

        Phi = np.zeros([len(phi), cls.dim, cls.dim])
        Phi[:, 0, 1] = -phi
        Phi[:, 1, 0] = phi
        return np.squeeze(Phi)

    @classmethod
    def vee(cls, Phi):
        SO(2) vee operator as defined by Barfoot.

Instances