do not create a view on coordinates

JuliaManifolds · Oct 16, 2023 · ba6f425 · ba6f425
1 parent 1bbb150
commit ba6f425
Showing 1 changed file with 8 additions and 7 deletions.
diff --git a/src/groups/special_euclidean.jl b/src/groups/special_euclidean.jl
@@ -739,26 +739,27 @@ function get_vector(
     basis::DefaultOrthogonalBasis,
 )
     return ArrayPartition(
-        get_vector(M.manifold.manifolds[1].manifold, p.x[1], view(c, 1:2), basis),
-        get_vector(M.manifold.manifolds[2].manifold, p.x[2], c[3], basis),
+        get_vector(M.manifold.manifolds[1].manifold, p.x[1], c[SOneTo(2)], basis),
+        get_vector(M.manifold.manifolds[2].manifold, p.x[2], c[SA[3]], basis),
     )
 end
+
 function hat(M::SpecialEuclidean{3}, p::ArrayPartition, c)
     M1, M2 = M.manifold.manifolds
     return ArrayPartition(
-        get_vector_orthogonal(M1.manifold, p.x[1], view(c, 1:3), ℝ),
-        get_vector_orthogonal(M2.manifold, p.x[2], view(c, 4:6), ℝ),
+        get_vector_orthogonal(M1.manifold, p.x[1], c[SOneTo(3)], ℝ),
+        get_vector_orthogonal(M2.manifold, p.x[2], c[SA[4,5,6]], ℝ),
     )
 end
 function get_vector(
     M::SpecialEuclidean{3},
     p::ArrayPartition,
-    Xc::AbstractVector,
+    c::AbstractVector,
     basis::DefaultOrthogonalBasis,
 )
     return ArrayPartition(
-        get_vector(M.manifold.manifolds[1].manifold, p.x[1], view(Xc, 1:3), basis),
-        get_vector(M.manifold.manifolds[2].manifold, p.x[2], view(Xc, 4:6), basis),
+        get_vector(M.manifold.manifolds[1].manifold, p.x[1], c[SOneTo(3)], basis),
+        get_vector(M.manifold.manifolds[2].manifold, p.x[2], c[SA[4,5,6]], basis),
     )
 end
 function compose(::SpecialEuclidean, p::ArrayPartition, q::ArrayPartition)