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)
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)