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There's a division by np.sin(angle) but there isn't a check to see if angle is +np.pi or -np.pi. I understand that due to numerical precision, np.sin(np.pi) != 0.0 but I'm wondering if there needs to be some extra care taken here.
Hello,
In the
so3.log
functionliegroups/liegroups/numpy/so3.py
Line 205 in fe1d376
There's a division by
np.sin(angle)
but there isn't a check to see ifangle
is+np.pi
or-np.pi
. I understand that due to numerical precision,np.sin(np.pi) != 0.0
but I'm wondering if there needs to be some extra care taken here.See
https://en.wikipedia.org/wiki/Axis–angle_representation#Log_map_from_SO(3)_to_%7F'%22%60UNIQ--postMath-0000000D-QINU%60%22'%7F(3)
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