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Unit Quaternion logarithm inconsistent with exp #1363
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After investigating more:
outputs
Seems like UnitQuaternion implemetation expects ln to return scaled_axis instead of returning half of it, contrary to correct statement in the doccomment of the function itself (UnitQuaternion::ln): "The vector part of the return value corresponds to the axis-angle representation (divided by 2.0) of this unit quaternion". |
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Unit<Quaternion>::ln and Quaternion::ln differ, which is unexpected. Quaternion::ln seems to be correct and it is consistent with Quaternion::exp, at least on data I encountered.
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