def test_exp_log(): C_big = SO3.exp(0.25 * np.pi * torch.ones(3)) assert utils.allclose(SO3.exp(SO3.log(C_big)).mat, C_big.mat) C_small = SO3.exp(torch.zeros(3)) assert utils.allclose(SO3.exp(SO3.log(C_small)).mat, C_small.mat)