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Division by zero in SO3.to_quat() #23

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JohnKJung opened this issue Oct 31, 2024 · 0 comments
Open

Division by zero in SO3.to_quat() #23

JohnKJung opened this issue Oct 31, 2024 · 0 comments
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@JohnKJung
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When the SO(3) element, C, is given as

C = [
1, 0, 0,
0, -1, 0,
0, 0, -1
]

and use SO3.to_quat(C), the division by zero error is raised in line 256 due to

eta = 0.5 * (np.trace(C) + 1) ** 0.5

being zero.
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@JohnKJung @mitchellcohen3