BUG: Fix error with 180 degree rotation in Rotation.align_vectors() with an infinite weight#20573
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Solid fix @scottshambaugh! Is it necessary to mention bug fixes in the release notes? I don't see a dedicated section for that here. |
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…ith an infinite weight (scipy#20573) * Fix exact rotations at 180 deg, improve near 180 deg Comments * Tests for exact near 180 deg rotations * Fix tests * Code review updates --------- Co-authored-by: Scott Shambaugh <scottshambaugh@users.noreply.github.com>
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Note that this also affected antiparallel single vector pairs as in #20660, since those use the infinite weight code path, but that should be covered under this fix. scipy/scipy/spatial/transform/_rotation.pyx Lines 3456 to 3459 in 0f87966 |
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Reference issue
Closes #20555
What does this implement/fix?
There are two related issues with exact rotations near 180 degrees:
This fixes both. For the numerical instability part, near 180 degrees for the test case I'm seeing a pointing error of 2e-6 drop to 5e-9 (and now matches the non-exact code path to 1e-11). Tried to make the code path as compact as possible, but improvements welcome!