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# Master
- Fix bug in the `RealTuple::log` method: Calling `log(a,b)`returned `a-b`
instead of `b-a`.
- Fix the return value of `ProductManifold::log`: It was `TangentVector`,
but now it is `EmbeddedTangentVector`.
- The `RigidBodyMotion` class has a `log` method now.
- The method `Rotation<3>::log` now returns an `EmbeddedTangentVector`
instead of a `SkewMatrix`. This is consistent with the other manifold
implementations.
- Deprecate the method `RigidBodyMotion::difference`; the method
`RigidBodyMotion::log`. Watch out: The `difference` method was buggy!
See https://gitlab.mn.tu-dresden.de/osander/dune-gfe/-/merge_requests/2
for details.