Minor vmap fix in SO2 #362
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…creating new batched tensor.
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* Changed SO2._rotate_from_cos_sin to use cosine rather than point for creating new batched tensor. * Changed SO2._rotate_from_cos_sin to avoid in-place indexing.
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Creating the new tensor from
cosineis better, since our typical use case uses vmap over the optimization variable. The previous version could result in errors in AutodiffCostFunction in some corner cases (@rmurai0610 hit one of these). The caveat is that the new version will fail if we vmap over the points, but there is no easy workaround for this. From conversation with @zou3519 it seems thatfunctorchteam is working on some better API to lift tensors to their batched versions.