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Fix SO(3) edge cases - #781
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For |w| < eps, the sign of the +/-pi result was taken from the sign of w, which is rounding noise there (e.g. cos(float32(pi) / 2) < 0). This made log(exp(t)) return -t for |t| ~= pi in float32. Choose the sign from the rotation axis instead.
Rounding can push the arcsin argument slightly past +/-1 when pitch is near +/-pi/2. Clip it to [-1, 1].
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