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Jacobian of `exp(RotationVecGenerator(...))` at 0 results in `NaN` #280

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cafaxo opened this issue Dec 3, 2023 · 0 comments

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differentiation

cafaxo commented Dec 3, 2023

This should not result in NaN:

julia> f(p) = exp(RotationVecGenerator(p[1], p[2], p[3]));

julia> ForwardDiff.jacobian(f, [0.0, 0.0, 0.0])
9×3 Matrix{Float64}:
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN

The correct output is

julia> f2(p) = exp(SMatrix(RotationVecGenerator(p[1], p[2], p[3])));

julia> ForwardDiff.jacobian(f2, [0.0, 0.0, 0.0])
9×3 Matrix{Float64}:
 0.0   0.0   0.0
 0.0   0.0   1.0
 0.0  -1.0   0.0
 0.0   0.0  -1.0
 0.0   0.0   0.0
 1.0   0.0   0.0
 0.0   1.0   0.0
-1.0   0.0   0.0
 0.0   0.0   0.0

The text was updated successfully, but these errors were encountered:

hyrodium added the differentiation label

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