Found an error when using the log map on near identy rotations. This was cause by slight inaccuracies in the conversion resulting in a trace of 3 + eps, which results in a value > 1 being passed to acos in the log map function. Added a min between the value and 1 to fix this as well as unit tests.
``
from spatialmath import SO3
R = SO3.Rand()
R_test = (R.inv() R)
print((R.inv() R).eulervec())
Found an error when using the log map on near identy rotations. This was cause by slight inaccuracies in the conversion resulting in a trace of 3 + eps, which results in a value > 1 being passed to acos in the log map function. Added a min between the value and 1 to fix this as well as unit tests.
`` from spatialmath import SO3 R = SO3.Rand() R_test = (R.inv() R) print((R.inv() R).eulervec())
``