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Add log and exp mapping #19

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Achllle opened this issue Jun 1, 2019 · 0 comments

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Achllle commented Jun 1, 2019

The logarithmic and exponential mapping are useful for several algorithms and allow mapping to and from vector spaces.

See math: https://www.sciencedirect.com/science/article/pii/S0022247X12000327
or: http://www.roboticsproceedings.org/rss08/p04.pdf

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