fix axis angle conversion when the rotation matrix is close to identity #296
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Hi @yzqin , thanks for your contribution. Do you have a test case that clearly demonstrates that the previous versions fails? edit: I'm asking because whenever I had such a case, renormalization of the rotation matrix with |
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@yzqin Did you find a case in which the current version fails? |
AlexanderFabisch
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Fix rotation matrix to axis-angle conversion for near-identity matrices
Description:
This PR fixes the rotation matrix to axis-angle conversion when the matrix is close to identity. The current implementation uses strict equality (==) to check for identity, which fails due to float precision issues. This can lead to division by zero and NaN results.
This fix prevents NaN outputs and ensures accurate conversion for small rotations.