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exp and log not invertible #15

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Carpetfizz opened this issue May 6, 2022 · 0 comments

Carpetfizz commented May 6, 2022

This assertion fails.

import numpy as np
from liegroups import SO3
s = SO3.from_rpy(np.pi, 0, np.pi/2)
es = SO3.exp(s.log())
assert np.allclose(s.mat, es.mat)

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