[Toon-members] SO3 and rotoinversions?

[Alex Flint]

Hi there,

Does the SO3 group include rotoinversions? If so, TooN::SO3 isn't handling them properly:

  Matrix<3> m = Identity;

  m[0][0] = -1;

  SO3<> r(m);

  cout << r << endl << SO3<>::exp(r.ln()) << endl;

results in:

  -1 0 0

  0 1 0

  0 0 1

  nan nan nan

  nan nan nan

  nan nan nan

If SO3 is not meant to handle this case then perhaps SO3::coerce() should force the matrix to have determinant 1, or output a warning/error?

Cheers,

Alex