Rename log_SO3 to log_vee for clarity in SO(3) logarithm map computation

ami-iit · Mar 5, 2025 · 6aff9e1 · 6aff9e1
1 parent dcc52fd
commit 6aff9e1
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/jaxsim/math/rotation.py b/src/jaxsim/math/rotation.py
@@ -84,15 +84,15 @@ def from_axis_angle(vector: jtp.Vector) -> jtp.Matrix:
         return R.transpose()
 
     @staticmethod
-    def log_SO3(R: jnp.ndarray) -> jtp.Vector:
+    def log_vee(R: jnp.ndarray) -> jtp.Vector:
         """
         Compute the logarithm map of an SO(3) rotation matrix.
 
         Args:
             R: The SO(3) rotation matrix.
 
         Returns:
-            The corresponding 3D Lie algebra element.
+            The corresponding SO(3) tangent vector.
         """
         cos_theta = (jnp.trace(R) - 1) / 2
         theta = jnp.arccos(jnp.clip(cos_theta, -1.0, 1.0))