Documentation errors

[joansola]

Describe the bug These are not code bugs but documentation errors -- which I consider bugs

• [ ] inverse() : "compose(a,inverse(a)) = a" should be "compose(a,inverse(a)) = identity"

• [ ] local_coordinates() : "Implementation is simply to_tangent(between(this, b)). Tangent space perturbation that conceptually represents “this - a”."

  should be

  "Implementation is simply to_tangent(between(this, b)). Tangent space perturbation that conceptually represents “this - b”."

  also, I think it should be

  "Implementation is simply to_tangent(between(this, b)). Tangent space perturbation that conceptually represents “b - this”."

  also, between() does not appear listed in the list of available methods, so the doc above is confusing.

To Reproduce Not relevant

Expected behavior Not relevant

Screenshots

• SymForce webpage documentation on Aug 26, 2022

[hayk-skydio]

Thank you for pointing this out @joansola!