def logmap(m):
    theta = np.arccos(np.clip((np.trace(m) - 1)/2,-1,1))
    return (1/(2*np.sin(theta))) * np.array([[m[2,1] - m[1,2], m[0,2]-m[2,0], m[1,0]-m[0,1]]]), theta
Tests the `SIG` function
dataset/ETHPy150Open rll/lfd/lfd/rapprentice/registration.py/logmap--crossover with--dataset/ETHPy150Open mitsuhiko/solace/solace/tests/signals.py/SignalTestCase.test_SIG