def testLog(self):
for i in range(100):
theta = np.random.uniform(-np.pi, np.pi)
R = SO2.fromAngle(theta)
R.inv()
logR_true = np.array([[0, -theta], [theta, 0]])
logR = SO2.log(R)
self.assertAlmostEqual(logR[1,0], logR_true[1,0])
self.assertAlmostEqual(logR[0,1], logR_true[0,1])
def testVee(self):
for i in range(100):
theta_true = np.random.uniform(-np.pi, np.pi)
R = SO2.fromAngle(theta_true)
theta = SO2.vee(SO2.log(R))
self.assertAlmostEqual(theta, theta_true)