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    c20c7471
    Test (some of) the exp and log methods · c20c7471
    Sander, Oliver authored
    This triggers bugs in the Rotation and RigidBodyMotion classes.
    
    In particular, it triggers what Jonathan Youett fixed in the
    never-merged merge request
    
      !2
    
    These bugs are fixed in this commit, too:
    * The RigidBodyMotion class gets a `log` method
    * The Rotation<3>::log method now returns EmbeddedTangentVector
      instead of TangentVector.
    c20c7471
    History
    Test (some of) the exp and log methods
    Sander, Oliver authored
    This triggers bugs in the Rotation and RigidBodyMotion classes.
    
    In particular, it triggers what Jonathan Youett fixed in the
    never-merged merge request
    
      !2
    
    These bugs are fixed in this commit, too:
    * The RigidBodyMotion class gets a `log` method
    * The Rotation<3>::log method now returns EmbeddedTangentVector
      instead of TangentVector.