From 7f8f1aa8d9bb693c8c785046cd3c380adc587ca1 Mon Sep 17 00:00:00 2001
From: Luis Pineda <4759586+luisenp@users.noreply.github.com>
Date: Fri, 7 Jul 2023 18:25:30 -0400
Subject: [PATCH] Fix error in torch Lie API example. (#575)

---
 examples/torchlie_api.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/examples/torchlie_api.py b/examples/torchlie_api.py
index 1ac083dc..083b5ee4 100644
--- a/examples/torchlie_api.py
+++ b/examples/torchlie_api.py
@@ -1,3 +1,7 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
 import torch
 
 import torchlie as lie
@@ -107,11 +111,14 @@ def is_shared(t1, t2):  # utility to check if memory is shared
 out2 = g1 * g2
 torch.testing.assert_close(out1, out2, check_dtype=True)
 
-# Transfrom from (from local to world coordinate frame)
+# Transfrom (from local to world coordinate frame)
+# Untransfrom (from world to local coordinate frame)
 p = torch.randn(batch_size, 3)
-pt1 = g1.transform_from(p)
+pt1 = g1.transform(p)
 pt2 = g1 @ p
 torch.testing.assert_close(pt1, pt2)
+pback = g1.untransform(pt1)
+torch.testing.assert_close(p, pback)
 
 # For convenience, we provide a context to drop all ltype checks, and operate
 # on raw tensor data. However, keep in mind that this is prone to error.