apex_manifolds/

so3.rs

//! SO3 - Special Orthogonal Group in 3D
//!
//! This module implements the Special Orthogonal group SO(3), which represents
//! rotations in 3D space.
//!
//! SO(3) elements are represented using nalgebra's UnitQuaternion internally.
//! SO(3) tangent elements are represented as axis-angle vectors in R³,
//! where the direction gives the axis of rotation and the magnitude gives the angle.
//!
//! The implementation follows the [manif](https://github.com/artivis/manif) C++ library
//! conventions and provides all operations required by the LieGroup and Tangent traits.
//!
//! # Numerical Conditioning
//!
//! The Jacobian inverses (Jr⁻¹, Jl⁻¹) contain the term `(1 + cos θ) / (2θ sin θ)` which
//! is poorly conditioned near θ = 0 (indeterminate 0/0) and θ = π (singularity).
//! Expected precision for Jr * Jr⁻¹ ≈ I:
//!
//! | Angle range     | Precision |
//! |-----------------|-----------|
//! | θ < 0.1 rad     | ~1e-8     |
//! | 0.1–0.5 rad     | ~1e-6     |
//! | 0.5–π/2 rad     | ~1e-4     |
//! | θ > π/2 rad     | ~0.01     |
//!
//! Composition chains accumulate drift multiplicatively — re-normalize quaternions
//! periodically for long chains. These properties are consistent with production
//! Lie group libraries (manif, Sophus, GTSAM).
//!
//! ## References
//!
//! - Nurlanov et al. (2021): "Exploring SO(3) logarithmic map: degeneracies and derivatives"
//! - Sophus library: <https://github.com/strasdat/Sophus/issues/179>

use crate::{LieGroup, Tangent};
use nalgebra::{DVector, Matrix3, Matrix4, Quaternion, Unit, UnitQuaternion, Vector3};
use std::{
    fmt,
    fmt::{Display, Formatter},
};

/// SO(3) group element representing rotations in 3D.
///
/// Internally represented using nalgebra's UnitQuaternion<f64> for efficient rotations.
#[derive(Clone, PartialEq)]
pub struct SO3 {
    /// Internal representation as a unit quaternion
    quaternion: UnitQuaternion<f64>,
}

impl Display for SO3 {
    fn fmt(&self, f: &mut Formatter<'_>) -> fmt::Result {
        let q = self.quaternion.quaternion();
        write!(
            f,
            "SO3(quaternion: [w: {:.4}, x: {:.4}, y: {:.4}, z: {:.4}])",
            q.w, q.i, q.j, q.k
        )
    }
}

impl SO3 {
    /// Space dimension - dimension of the ambient space that the group acts on
    pub const DIM: usize = 3;

    /// Degrees of freedom - dimension of the tangent space
    pub const DOF: usize = 3;

    /// Representation size - size of the underlying data representation
    pub const REP_SIZE: usize = 4;

    /// Get the identity element of the group.
    ///
    /// Returns the neutral element e such that e ∘ g = g ∘ e = g for any group element g.
    pub fn identity() -> Self {
        SO3 {
            quaternion: UnitQuaternion::identity(),
        }
    }

    /// Get the identity matrix for Jacobians.
    ///
    /// Returns the identity matrix in the appropriate dimension for Jacobian computations.
    pub fn jacobian_identity() -> Matrix3<f64> {
        Matrix3::<f64>::identity()
    }

    /// Create a new SO(3) element from a unit quaternion.
    ///
    /// # Arguments
    /// * `quaternion` - Unit quaternion representing rotation
    #[inline]
    pub fn new(quaternion: UnitQuaternion<f64>) -> Self {
        SO3 { quaternion }
    }

    /// Create SO(3) from quaternion coefficients in G2O convention `[x, y, z, w]`.
    ///
    /// This parameter order matches the G2O file format where quaternion components
    /// are stored as `(qx, qy, qz, qw)`. For nalgebra's `(w, x, y, z)` convention,
    /// use [`from_quaternion_wxyz()`](Self::from_quaternion_wxyz).
    ///
    /// # Arguments
    /// * `x` - i component of quaternion
    /// * `y` - j component of quaternion
    /// * `z` - k component of quaternion
    /// * `w` - w (real) component of quaternion
    pub fn from_quaternion_coeffs(x: f64, y: f64, z: f64, w: f64) -> Self {
        let q = Quaternion::new(w, x, y, z);
        SO3::new(UnitQuaternion::from_quaternion(q))
    }

    /// Create SO(3) from quaternion coefficients in nalgebra convention `[w, x, y, z]`.
    ///
    /// This parameter order matches nalgebra's `Quaternion::new(w, x, y, z)`.
    /// For G2O file format order `(qx, qy, qz, qw)`, use
    /// [`from_quaternion_coeffs()`](Self::from_quaternion_coeffs).
    ///
    /// # Arguments
    /// * `w` - w (real) component of quaternion
    /// * `x` - i component of quaternion
    /// * `y` - j component of quaternion
    /// * `z` - k component of quaternion
    pub fn from_quaternion_wxyz(w: f64, x: f64, y: f64, z: f64) -> Self {
        let q = Quaternion::new(w, x, y, z);
        SO3::new(UnitQuaternion::from_quaternion(q))
    }

    /// Create SO(3) from Euler angles (roll, pitch, yaw).
    pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self {
        let quaternion = UnitQuaternion::from_euler_angles(roll, pitch, yaw);
        SO3::new(quaternion)
    }

    /// Create SO(3) from axis-angle representation.
    pub fn from_axis_angle(axis: &Vector3<f64>, angle: f64) -> Self {
        let unit_axis = Unit::new_normalize(*axis);
        let quaternion = UnitQuaternion::from_axis_angle(&unit_axis, angle);
        SO3::new(quaternion)
    }

    /// Create SO(3) from scaled axis (axis-angle vector).
    pub fn from_scaled_axis(axis_angle: Vector3<f64>) -> Self {
        let quaternion = UnitQuaternion::from_scaled_axis(axis_angle);
        SO3::new(quaternion)
    }

    /// Get the quaternion representation.
    pub fn quaternion(&self) -> UnitQuaternion<f64> {
        self.quaternion
    }

    /// Create SO3 from quaternion (alias for new)
    pub fn from_quaternion(quaternion: UnitQuaternion<f64>) -> Self {
        Self::new(quaternion)
    }

    /// Get the quaternion representation (alias for quaternion)
    pub fn to_quaternion(&self) -> UnitQuaternion<f64> {
        self.quaternion
    }

    /// Get the raw quaternion coefficients.
    pub fn quat(&self) -> Quaternion<f64> {
        *self.quaternion.quaternion()
    }

    /// Get the x component of the quaternion.
    #[inline]
    pub fn x(&self) -> f64 {
        self.quaternion.i
    }

    /// Get the y component of the quaternion.
    #[inline]
    pub fn y(&self) -> f64 {
        self.quaternion.j
    }

    /// Get the z component of the quaternion.
    #[inline]
    pub fn z(&self) -> f64 {
        self.quaternion.k
    }

    /// Get the w component of the quaternion.
    #[inline]
    pub fn w(&self) -> f64 {
        self.quaternion.w
    }

    /// Get the rotation matrix (3x3).
    pub fn rotation_matrix(&self) -> Matrix3<f64> {
        self.quaternion.to_rotation_matrix().into_inner()
    }

    /// Get the homogeneous transformation matrix (4x4).
    pub fn transform(&self) -> Matrix4<f64> {
        self.quaternion.to_homogeneous()
    }

    /// Set the quaternion from coefficients array [w, x, y, z].
    pub fn set_quaternion(&mut self, coeffs: &[f64; 4]) {
        let q = Quaternion::new(coeffs[0], coeffs[1], coeffs[2], coeffs[3]);
        self.quaternion = UnitQuaternion::from_quaternion(q);
    }

    /// Get coefficients as array [w, x, y, z].
    #[inline]
    pub fn coeffs(&self) -> [f64; 4] {
        let q = self.quaternion.quaternion();
        [q.w, q.i, q.j, q.k]
    }

    /// Calculate the distance between two SO3 elements
    ///
    /// Computes the geodesic distance, which is the norm of the log map
    /// of the relative rotation between the two elements.
    pub fn distance(&self, other: &Self) -> f64 {
        self.between(other, None, None).log(None).angle()
    }
}

// Conversion traits for integration with generic Problem
impl From<DVector<f64>> for SO3 {
    fn from(data: DVector<f64>) -> Self {
        SO3::from_quaternion_wxyz(data[0], data[1], data[2], data[3])
    }
}

impl From<SO3> for DVector<f64> {
    fn from(so3: SO3) -> Self {
        DVector::from_vec(so3.coeffs().to_vec())
    }
}

// Implement basic trait requirements for LieGroup
impl LieGroup for SO3 {
    type TangentVector = SO3Tangent;
    type JacobianMatrix = Matrix3<f64>;
    type LieAlgebra = Matrix3<f64>;

    /// SO3 inverse.
    ///
    /// # Arguments
    /// * `jacobian` - Optional Jacobian matrix of the inverse wrt self.
    ///
    /// # Notes
    /// R⁻¹ = Rᵀ, for quaternions: q⁻¹ = q*
    ///
    /// # Equation 140: Jacobian of Inverse for SO(3)
    /// J_R⁻¹_R = -Adj(R) = -R
    ///
    fn inverse(&self, jacobian: Option<&mut Self::JacobianMatrix>) -> Self {
        let inverse_quat = self.quaternion.inverse();

        if let Some(jac) = jacobian {
            *jac = -self.adjoint();
        }

        SO3 {
            quaternion: inverse_quat,
        }
    }

    /// SO3 composition.
    ///
    /// # Arguments
    /// * `other` - Another SO3 element.
    /// * `jacobian_self` - Optional Jacobian matrix of the composition wrt self.
    /// * `jacobian_other` - Optional Jacobian matrix of the composition wrt other.
    ///
    /// # Notes
    /// # Equation 141: Jacobian of the composition wrt self.
    /// J_QR_R = Adj(R⁻¹) = Rᵀ
    ///
    /// # Equation 142: Jacobian of the composition wrt other.
    /// J_QR_Q = I
    ///
    fn compose(
        &self,
        other: &Self,
        jacobian_self: Option<&mut Self::JacobianMatrix>,
        jacobian_other: Option<&mut Self::JacobianMatrix>,
    ) -> Self {
        let result = SO3 {
            quaternion: self.quaternion * other.quaternion,
        };

        if let Some(jac_self) = jacobian_self {
            *jac_self = other.inverse(None).adjoint();
        }

        if let Some(jac_other) = jacobian_other {
            *jac_other = Matrix3::identity();
        }

        result
    }

    /// Get the SO3 corresponding Lie algebra element in vector form.
    ///
    /// # Arguments
    /// * `jacobian` - Optional Jacobian matrix of the tangent wrt to self.
    ///
    /// # Notes
    /// # Equation 133: Logarithmic map for unit quaternions (S³)
    /// θu = Log(q) = (2 / ||v||) * v * arctan(||v||, w) ∈ R³
    ///
    /// # Equation 144: Inverse of Right Jacobian for SO(3) Exp map
    /// J_R⁻¹(θ) = I + (1/2) [θ]ₓ + (1/θ² - (1 + cos θ)/(2θ sin θ)) [θ]ₓ²
    ///
    fn log(&self, jacobian: Option<&mut Self::JacobianMatrix>) -> Self::TangentVector {
        debug_assert!(
            (self.quaternion.norm() - 1.0).abs() < 1e-6,
            "SO3::log() requires normalized quaternion, norm = {}",
            self.quaternion.norm()
        );

        let q = self.quaternion.quaternion();
        let sin_angle_squared = q.i * q.i + q.j * q.j + q.k * q.k;

        let log_coeff = if sin_angle_squared > crate::SMALL_ANGLE_THRESHOLD {
            let sin_angle = sin_angle_squared.sqrt();
            let cos_angle = q.w;

            // When cos_angle < 0, the rotation angle θ > π/2.
            // Using atan2(sin, cos) directly would give θ/2 in (π/4, π/2].
            // By negating both arguments: atan2(-sin, -cos), we get θ/2 in
            // (-3π/4, -π/2], which when doubled gives the rotation angle in the
            // correct range [-π, π]. This avoids discontinuities and matches the
            // manif C++ library convention. The key insight is that atan2(-y, -x)
            // = atan2(y, x) - π (or + π), shifting the result by π.
            let two_angle = 2.0
                * if cos_angle < 0.0 {
                    f64::atan2(-sin_angle, -cos_angle)
                } else {
                    f64::atan2(sin_angle, cos_angle)
                };

            two_angle / sin_angle
        } else {
            2.0
        };

        let axis_angle = SO3Tangent::new(Vector3::new(
            q.i * log_coeff,
            q.j * log_coeff,
            q.k * log_coeff,
        ));

        if let Some(jac) = jacobian {
            *jac = axis_angle.right_jacobian_inv();
        }

        axis_angle
    }

    fn act(
        &self,
        vector: &Vector3<f64>,
        jacobian_self: Option<&mut Self::JacobianMatrix>,
        jacobian_vector: Option<&mut Matrix3<f64>>,
    ) -> Vector3<f64> {
        let result = self.quaternion * vector;

        if let Some(jac_self) = jacobian_self {
            // -R * [v]×
            let vector_hat = SO3Tangent::new(*vector).hat();
            *jac_self = -self.rotation_matrix() * vector_hat;
        }

        if let Some(jac_vector) = jacobian_vector {
            *jac_vector = self.rotation_matrix();
        }

        result
    }

    fn adjoint(&self) -> Self::JacobianMatrix {
        self.rotation_matrix()
    }

    fn random() -> Self {
        SO3 {
            quaternion: UnitQuaternion::from_scaled_axis(Vector3::new(
                rand::random::<f64>() * 2.0 - 1.0,
                rand::random::<f64>() * 2.0 - 1.0,
                rand::random::<f64>() * 2.0 - 1.0,
            )),
        }
    }

    fn jacobian_identity() -> Self::JacobianMatrix {
        Matrix3::<f64>::identity()
    }

    fn zero_jacobian() -> Self::JacobianMatrix {
        Matrix3::<f64>::zeros()
    }

    fn normalize(&mut self) {
        let q = self.quaternion.into_inner().normalize();
        self.quaternion = UnitQuaternion::from_quaternion(q);
    }

    fn is_valid(&self, tolerance: f64) -> bool {
        // Check if the quaternion is normalized
        let norm_diff = (self.quaternion.norm() - 1.0).abs();
        norm_diff < tolerance
    }

    /// Vee operator: log(g)^∨.
    ///
    /// Maps a group element g ∈ G to its tangent vector log(g)^∨ ∈ 𝔤.
    /// For SO(3), this is the same as log().
    fn vee(&self) -> Self::TangentVector {
        self.log(None)
    }

    /// Check if the element is approximately equal to another element.
    ///
    /// # Arguments
    /// * `other` - The other element to compare with
    /// * `tolerance` - The tolerance for the comparison
    fn is_approx(&self, other: &Self, tolerance: f64) -> bool {
        let difference = self.right_minus(other, None, None);
        difference.is_zero(tolerance)
    }
}

/// SO(3) tangent space element representing elements in the Lie algebra so(3).
///
/// Internally represented as axis-angle vectors in R³ where:
/// - Direction: axis of rotation (unit vector)
/// - Magnitude: angle of rotation (radians)
#[derive(Clone, PartialEq)]
pub struct SO3Tangent {
    /// Internal data: axis-angle vector [θx, θy, θz]
    data: Vector3<f64>,
}

impl fmt::Display for SO3Tangent {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        write!(
            f,
            "so3(axis-angle: [{:.4}, {:.4}, {:.4}])",
            self.data.x, self.data.y, self.data.z
        )
    }
}

// Conversion traits for integration with generic Problem
impl From<DVector<f64>> for SO3Tangent {
    fn from(data_vector: DVector<f64>) -> Self {
        SO3Tangent {
            data: Vector3::new(data_vector[0], data_vector[1], data_vector[2]),
        }
    }
}

impl From<SO3Tangent> for DVector<f64> {
    fn from(so3_tangent: SO3Tangent) -> Self {
        DVector::from_vec(vec![
            so3_tangent.data.x,
            so3_tangent.data.y,
            so3_tangent.data.z,
        ])
    }
}

impl SO3Tangent {
    /// Create a new SO3Tangent from axis-angle vector.
    ///
    /// # Arguments
    /// * `axis_angle` - Axis-angle vector [θx, θy, θz]
    #[inline]
    pub fn new(axis_angle: Vector3<f64>) -> Self {
        SO3Tangent { data: axis_angle }
    }

    /// Create SO3Tangent from individual components.
    pub fn from_components(x: f64, y: f64, z: f64) -> Self {
        SO3Tangent::new(Vector3::new(x, y, z))
    }

    /// Get the axis-angle vector.
    #[inline]
    pub fn axis_angle(&self) -> Vector3<f64> {
        self.data
    }

    /// Get the angle of rotation.
    #[inline]
    pub fn angle(&self) -> f64 {
        self.data.norm()
    }

    /// Get the axis of rotation (normalized).
    #[inline]
    pub fn axis(&self) -> Vector3<f64> {
        let norm = self.data.norm();
        if norm < f64::EPSILON {
            Vector3::identity()
        } else {
            self.data / norm
        }
    }

    /// Get the x component.
    #[inline]
    pub fn x(&self) -> f64 {
        self.data.x
    }

    /// Get the y component.
    #[inline]
    pub fn y(&self) -> f64 {
        self.data.y
    }

    /// Get the z component.
    #[inline]
    pub fn z(&self) -> f64 {
        self.data.z
    }

    /// Get the coefficients as a vector.
    #[inline]
    pub fn coeffs(&self) -> Vector3<f64> {
        self.data
    }

    /// Get angular velocity representation (alias for axis_angle).
    pub fn ang(&self) -> Vector3<f64> {
        self.data
    }
}

// Implement LieAlgebra trait for SO3Tangent
impl Tangent<SO3> for SO3Tangent {
    /// Dimension of the tangent space
    const DIM: usize = 3;

    /// SO3 exponential map.
    ///
    /// # Arguments
    /// * `tangent` - Tangent vector [θx, θy, θz]
    /// * `jacobian` - Optional Jacobian matrix of the SO3 element wrt self.
    ///
    /// # Notes
    /// # Equation 132: Exponential map for unit quaternions (S³)
    /// q = Exp(θu) = cos(θ/2) + u sin(θ/2) ∈ H
    ///
    /// # Equation 143: Right Jacobian for SO(3) Exp map
    /// J_R(θ) = I - (1 - cos θ)/θ² [θ]ₓ + (θ - sin θ)/θ³ [θ]ₓ²
    ///
    fn exp(&self, jacobian: Option<&mut <SO3 as LieGroup>::JacobianMatrix>) -> SO3 {
        let theta_squared = self.data.norm_squared();

        let quaternion = if theta_squared > crate::SMALL_ANGLE_THRESHOLD {
            UnitQuaternion::from_scaled_axis(self.data)
        } else {
            UnitQuaternion::from_quaternion(Quaternion::new(
                1.0,
                self.data.x / 2.0,
                self.data.y / 2.0,
                self.data.z / 2.0,
            ))
        };

        if let Some(jac) = jacobian {
            *jac = self.right_jacobian();
        }

        SO3 { quaternion }
    }

    /// Right Jacobian for SO(3)
    ///
    /// # Notes
    /// # Equation 143: Right Jacobian for SO(3) Exp map
    /// J_R(θ) = I - (1 - cos θ)/θ² [θ]ₓ + (θ - sin θ)/θ³ [θ]ₓ²
    ///
    fn right_jacobian(&self) -> <SO3 as LieGroup>::JacobianMatrix {
        self.left_jacobian().transpose()
    }

    /// Left Jacobian for SO(3)
    ///
    /// # Notes
    /// # Equation 144: Left Jacobian for SO(3) Exp map
    /// J_R⁻¹(θ) = I + (1 - cos θ)/θ² [θ]ₓ + (θ - sin θ)/θ³ [θ]ₓ²
    ///
    fn left_jacobian(&self) -> <SO3 as LieGroup>::JacobianMatrix {
        let angle = self.data.norm_squared();
        let tangent_skew = self.hat();

        if angle <= crate::SMALL_ANGLE_THRESHOLD {
            Matrix3::identity() + 0.5 * tangent_skew
        } else {
            let theta = angle.sqrt();
            let sin_theta = theta.sin();
            let cos_theta = theta.cos();

            Matrix3::identity()
                + (1.0 - cos_theta) / angle * tangent_skew
                + (theta - sin_theta) / (angle * theta) * tangent_skew * tangent_skew
        }
    }

    /// Right Jacobian inverse for SO(3)
    ///
    /// Computed as transpose of left Jacobian inverse: Jr⁻¹ = (Jl⁻¹)ᵀ
    ///
    /// Has numerical conditioning issues near θ → π (sin θ → 0).
    ///
    fn right_jacobian_inv(&self) -> <SO3 as LieGroup>::JacobianMatrix {
        self.left_jacobian_inv().transpose()
    }

    /// Left Jacobian inverse for SO(3)
    ///
    /// J_L⁻¹(θ) = I - (1/2) [θ]ₓ + (1/θ² - (1 + cos θ)/(2θ sin θ)) [θ]ₓ²
    ///
    /// Has numerical conditioning issues near θ → π (sin θ → 0).
    ///
    fn left_jacobian_inv(&self) -> <SO3 as LieGroup>::JacobianMatrix {
        let angle = self.data.norm_squared();
        let tangent_skew = self.hat();

        if angle <= crate::SMALL_ANGLE_THRESHOLD {
            Matrix3::identity() - 0.5 * tangent_skew
        } else {
            let theta = angle.sqrt();
            let sin_theta = theta.sin();
            let cos_theta = theta.cos();

            Matrix3::identity() - (0.5 * tangent_skew)
                + (1.0 / angle - (1.0 + cos_theta) / (2.0 * theta * sin_theta))
                    * tangent_skew
                    * tangent_skew
        }
    }

    /// Hat map for SO(3)
    ///
    /// # Notes
    /// [θ]ₓ = [0 -θz θy; θz 0 -θx; -θy θx 0]
    ///
    fn hat(&self) -> <SO3 as LieGroup>::LieAlgebra {
        Matrix3::new(
            0.0,
            -self.data.z,
            self.data.y,
            self.data.z,
            0.0,
            -self.data.x,
            -self.data.y,
            self.data.x,
            0.0,
        )
    }

    fn zero() -> <SO3 as LieGroup>::TangentVector {
        Self::new(Vector3::zeros())
    }

    fn random() -> <SO3 as LieGroup>::TangentVector {
        Self::new(Vector3::new(
            rand::random::<f64>() * 0.2 - 0.1,
            rand::random::<f64>() * 0.2 - 0.1,
            rand::random::<f64>() * 0.2 - 0.1,
        ))
    }

    fn is_zero(&self, tolerance: f64) -> bool {
        self.data.norm() < tolerance
    }

    fn normalize(&mut self) {
        let norm = self.data.norm();
        if norm > f64::EPSILON {
            self.data /= norm;
        }
    }

    fn normalized(&self) -> <SO3 as LieGroup>::TangentVector {
        let norm = self.data.norm();
        if norm > f64::EPSILON {
            SO3Tangent::new(self.data / norm)
        } else {
            Self::zero()
        }
    }

    /// Small adjoint matrix for SO(3).
    ///
    /// For SO(3), the small adjoint is the skew-symmetric matrix (hat operator).
    fn small_adj(&self) -> <SO3 as LieGroup>::JacobianMatrix {
        self.hat()
    }

    /// Lie bracket for SO(3).
    ///
    /// Computes the Lie bracket [this, other] = this.small_adj() * other.
    fn lie_bracket(&self, other: &Self) -> <SO3 as LieGroup>::TangentVector {
        let bracket_result = self.small_adj() * other.data;
        SO3Tangent::new(bracket_result)
    }

    /// Check if this tangent vector is approximately equal to another.
    ///
    /// # Arguments
    /// * `other` - The other tangent vector to compare with
    /// * `tolerance` - The tolerance for the comparison
    fn is_approx(&self, other: &Self, tolerance: f64) -> bool {
        (self.data - other.data).norm() < tolerance
    }

    /// Get the ith generator of the SO(3) Lie algebra.
    ///
    /// # Arguments
    /// * `i` - Index of the generator (0, 1, or 2 for SO(3))
    ///
    /// # Returns
    /// The generator matrix
    fn generator(&self, i: usize) -> <SO3 as LieGroup>::LieAlgebra {
        assert!(i < 3, "SO(3) only has generators for indices 0, 1, 2");

        match i {
            0 => {
                // Generator E1 for x-axis rotation
                Matrix3::new(0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0)
            }
            1 => {
                // Generator E2 for y-axis rotation
                Matrix3::new(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0)
            }
            2 => {
                // Generator E3 for z-axis rotation
                Matrix3::new(0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0)
            }
            _ => unreachable!(),
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use core::f64;
    use std::f64::consts::PI;

    const TOLERANCE: f64 = 1e-12;

    #[test]
    fn test_so3_constructor_datatype() {
        let so3 = SO3::from_quaternion_coeffs(0.0, 0.0, 0.0, 1.0);
        assert_eq!(0.0, so3.x());
        assert_eq!(0.0, so3.y());
        assert_eq!(0.0, so3.z());
        assert_eq!(1.0, so3.w());
    }

    #[test]
    fn test_so3_constructor_quat() {
        let quat = UnitQuaternion::identity();
        let so3 = SO3::new(quat);
        assert_eq!(0.0, so3.x());
        assert_eq!(0.0, so3.y());
        assert_eq!(0.0, so3.z());
        assert_eq!(1.0, so3.w());
    }

    #[test]
    fn test_so3_constructor_euler() {
        let so3 = SO3::from_euler_angles(0.0, 0.0, 0.0);
        assert_eq!(0.0, so3.x());
        assert_eq!(0.0, so3.y());
        assert_eq!(0.0, so3.z());
        assert_eq!(1.0, so3.w());
    }

    #[test]
    fn test_so3_identity() {
        let so3 = SO3::identity();
        assert_eq!(0.0, so3.x());
        assert_eq!(0.0, so3.y());
        assert_eq!(0.0, so3.z());
        assert_eq!(1.0, so3.w());
    }

    #[test]
    fn test_so3_coeffs() {
        // Create from normalized coefficients
        let so3 = SO3::from_quaternion_coeffs(0.0, 0.0, 0.0, 1.0);
        let coeffs = so3.coeffs();
        assert!((coeffs[0] - 1.0).abs() < TOLERANCE); // w
        assert!((coeffs[1] - 0.0).abs() < TOLERANCE); // x
        assert!((coeffs[2] - 0.0).abs() < TOLERANCE); // y
        assert!((coeffs[3] - 0.0).abs() < TOLERANCE); // z

        // Test with non-normalized input - should get normalized output
        let so3 = SO3::from_quaternion_coeffs(0.1, 0.2, 0.3, 0.4);
        let coeffs = so3.coeffs();
        let original_quat = Quaternion::new(0.4, 0.1, 0.2, 0.3);
        let normalized_quat = original_quat.normalize();
        assert!((coeffs[0] - normalized_quat.w).abs() < TOLERANCE);
        assert!((coeffs[1] - normalized_quat.i).abs() < TOLERANCE);
        assert!((coeffs[2] - normalized_quat.j).abs() < TOLERANCE);
        assert!((coeffs[3] - normalized_quat.k).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_random() {
        let so3 = SO3::random();
        assert!((so3.quaternion().norm() - 1.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_transform() {
        let so3 = SO3::identity();
        let transform = so3.transform();

        assert_eq!(4, transform.nrows());
        assert_eq!(4, transform.ncols());

        // Check identity transform
        for i in 0..4 {
            for j in 0..4 {
                if i == j {
                    assert!((transform[(i, j)] - 1.0).abs() < TOLERANCE);
                } else {
                    assert!(transform[(i, j)].abs() < TOLERANCE);
                }
            }
        }
    }

    #[test]
    fn test_so3_rotation() {
        let so3 = SO3::identity();
        let rotation = so3.rotation_matrix();

        assert_eq!(3, rotation.nrows());
        assert_eq!(3, rotation.ncols());

        // Check identity rotation
        for i in 0..3 {
            for j in 0..3 {
                if i == j {
                    assert!((rotation[(i, j)] - 1.0).abs() < TOLERANCE);
                } else {
                    assert!(rotation[(i, j)].abs() < TOLERANCE);
                }
            }
        }
    }

    #[test]
    fn test_so3_inverse() {
        // inverse of identity is identity
        let so3 = SO3::identity();
        let so3_inv = so3.inverse(None);
        assert_eq!(0.0, so3_inv.x());
        assert_eq!(0.0, so3_inv.y());
        assert_eq!(0.0, so3_inv.z());
        assert_eq!(1.0, so3_inv.w());

        // inverse of random in quaternion form is conjugate
        let so3 = SO3::random();
        let so3_inv = so3.inverse(None);
        assert!((so3.x() + so3_inv.x()).abs() < TOLERANCE);
        assert!((so3.y() + so3_inv.y()).abs() < TOLERANCE);
        assert!((so3.z() + so3_inv.z()).abs() < TOLERANCE);
        assert!((so3.w() - so3_inv.w()).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_inverse_jacobian() {
        let so3 = SO3::identity();
        let mut jacobian = Matrix3::zeros();
        let so3_inv = so3.inverse(Some(&mut jacobian));

        // Check result
        assert_eq!(0.0, so3_inv.x());
        assert_eq!(0.0, so3_inv.y());
        assert_eq!(0.0, so3_inv.z());
        assert_eq!(1.0, so3_inv.w());

        // Check Jacobian is negative identity
        let expected_jac = -Matrix3::identity();
        assert!((jacobian - expected_jac).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_rplus() {
        // Adding zero to identity
        let so3a = SO3::identity();
        let so3b = SO3Tangent::new(Vector3::zeros());
        let so3c = so3a.right_plus(&so3b, None, None);
        assert_eq!(0.0, so3c.x());
        assert_eq!(0.0, so3c.y());
        assert_eq!(0.0, so3c.z());
        assert_eq!(1.0, so3c.w());

        // Adding zero to random
        let so3a = SO3::random();
        let so3c = so3a.right_plus(&so3b, None, None);
        assert!((so3a.x() - so3c.x()).abs() < TOLERANCE);
        assert!((so3a.y() - so3c.y()).abs() < TOLERANCE);
        assert!((so3a.z() - so3c.z()).abs() < TOLERANCE);
        assert!((so3a.w() - so3c.w()).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_lplus() {
        // Adding zero to identity
        let so3a = SO3::identity();
        let so3t = SO3Tangent::new(Vector3::zeros());
        let so3c = so3a.left_plus(&so3t, None, None);
        assert_eq!(0.0, so3c.x());
        assert_eq!(0.0, so3c.y());
        assert_eq!(0.0, so3c.z());
        assert_eq!(1.0, so3c.w());

        // Adding zero to random
        let so3a = SO3::random();
        let so3c = so3a.left_plus(&so3t, None, None);
        assert!((so3a.x() - so3c.x()).abs() < TOLERANCE);
        assert!((so3a.y() - so3c.y()).abs() < TOLERANCE);
        assert!((so3a.z() - so3c.z()).abs() < TOLERANCE);
        assert!((so3a.w() - so3c.w()).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_rminus() {
        // identity minus identity is zero
        let so3a = SO3::identity();
        let so3b = SO3::identity();
        let so3c = so3a.right_minus(&so3b, None, None);
        assert!(so3c.x().abs() < TOLERANCE);
        assert!(so3c.y().abs() < TOLERANCE);
        assert!(so3c.z().abs() < TOLERANCE);

        // random minus the same is zero
        let so3a = SO3::random();
        let so3b = so3a.clone();
        let so3c = so3a.right_minus(&so3b, None, None);
        assert!(so3c.data.norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_minus() {
        // minus is the same as right_minus
        let so3a = SO3::random();
        let so3b = SO3::random();
        let so3c = so3a.minus(&so3b, None, None);
        let so3d = so3a.right_minus(&so3b, None, None);
        assert!((so3c.data - so3d.data).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_exp_log() {
        // exp of zero is identity
        let so3t = SO3Tangent::new(Vector3::zeros());
        let so3 = so3t.exp(None);
        assert_eq!(0.0, so3.x());
        assert_eq!(0.0, so3.y());
        assert_eq!(0.0, so3.z());
        assert_eq!(1.0, so3.w());

        // exp of negative is inverse of exp
        let so3t = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let so3 = so3t.exp(None);
        let so3n = SO3Tangent::new(Vector3::new(-0.1, -0.2, -0.3));
        let so3_inv = so3n.exp(None);
        assert!((so3_inv.x() + so3.x()).abs() < TOLERANCE);
        assert!((so3_inv.y() + so3.y()).abs() < TOLERANCE);
        assert!((so3_inv.z() + so3.z()).abs() < TOLERANCE);
        assert!((so3_inv.w() - so3.w()).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_log() {
        // log of identity is zero
        let so3 = SO3::identity();
        let so3_log = so3.log(None);
        assert!(so3_log.x().abs() < TOLERANCE);
        assert!(so3_log.y().abs() < TOLERANCE);
        assert!(so3_log.z().abs() < TOLERANCE);

        // log of inverse is negative log
        let so3 = SO3::random();
        let so3_log = so3.log(None);
        let so3_inv_log = so3.inverse(None).log(None);
        assert!((so3_inv_log.x() + so3_log.x()).abs() < TOLERANCE);
        assert!((so3_inv_log.y() + so3_log.y()).abs() < TOLERANCE);
        assert!((so3_inv_log.z() + so3_log.z()).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_tangent_hat() {
        let so3_tan = SO3Tangent::new(Vector3::new(1.0, 2.0, 3.0));
        let so3_lie = so3_tan.hat();

        assert!((so3_lie[(0, 0)] - 0.0).abs() < TOLERANCE);
        assert!((so3_lie[(0, 1)] + 3.0).abs() < TOLERANCE);
        assert!((so3_lie[(0, 2)] - 2.0).abs() < TOLERANCE);
        assert!((so3_lie[(1, 0)] - 3.0).abs() < TOLERANCE);
        assert!((so3_lie[(1, 1)] - 0.0).abs() < TOLERANCE);
        assert!((so3_lie[(1, 2)] + 1.0).abs() < TOLERANCE);
        assert!((so3_lie[(2, 0)] + 2.0).abs() < TOLERANCE);
        assert!((so3_lie[(2, 1)] - 1.0).abs() < TOLERANCE);
        assert!((so3_lie[(2, 2)] - 0.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_act() {
        let so3 = SO3::identity();
        let transformed_point = so3.act(&Vector3::new(1.0, 1.0, 1.0), None, None);
        assert!((transformed_point.x - 1.0).abs() < TOLERANCE);
        assert!((transformed_point.y - 1.0).abs() < TOLERANCE);
        assert!((transformed_point.z - 1.0).abs() < TOLERANCE);

        let so3 = SO3::from_euler_angles(PI, PI / 2.0, PI / 4.0);
        let transformed_point = so3.act(&Vector3::new(1.0, 1.0, 1.0), None, None);
        assert!((transformed_point.x - 0.0).abs() < TOLERANCE);
        assert!((transformed_point.y + f64::consts::SQRT_2).abs() < 1e-10);
        assert!((transformed_point.z + 1.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_tangent_angular_velocity() {
        let so3tan = SO3Tangent::new(Vector3::new(1.0, 2.0, 3.0));
        let ang_vel = so3tan.ang();
        assert!((ang_vel - Vector3::new(1.0, 2.0, 3.0)).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_compose() {
        let so3_1 = SO3::random();
        let so3_2 = SO3::random();
        let composed = so3_1.compose(&so3_2, None, None);
        assert!(composed.is_valid(TOLERANCE));

        // Test composition with identity
        let identity = SO3::identity();
        let composed_with_identity = so3_1.compose(&identity, None, None);
        assert!((composed_with_identity.distance(&so3_1)).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_exp_log_consistency() {
        let tangent = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let so3 = tangent.exp(None);
        let recovered_tangent = so3.log(None);
        assert!((tangent.data - recovered_tangent.data).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_right_left_jacobian_relationship() {
        // For zero tangent, left and right Jacobians should be equal (both identity)
        let tangent = SO3Tangent::new(Vector3::zeros());
        let ljac = tangent.left_jacobian();
        let rjac = tangent.right_jacobian();
        assert!((ljac - rjac).norm() < TOLERANCE);
        assert!((ljac - Matrix3::identity()).norm() < TOLERANCE);

        // For non-zero tangent, test the general relationship
        let tangent = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let ljac = tangent.left_jacobian();
        let rjac = tangent.right_jacobian();

        // The correct relationship for SO(3) should be that both are transposes
        // when the tangent is small enough
        assert!((ljac - rjac.transpose()).norm() < TOLERANCE);
        assert!((rjac - ljac.transpose()).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_manifold_properties() {
        assert_eq!(SO3::DIM, 3);
        assert_eq!(SO3::DOF, 3);
        assert_eq!(SO3::REP_SIZE, 4);
    }

    #[test]
    fn test_so3_normalize() {
        let mut so3 = SO3::from_quaternion_coeffs(0.5, 0.5, 0.5, 0.5);
        so3.normalize();
        assert!(so3.is_valid(TOLERANCE));
    }

    #[test]
    fn test_so3_tangent_norms() {
        let tangent = SO3Tangent::new(Vector3::new(3.0, 4.0, 0.0));
        let norm = tangent.data.norm();
        assert!((norm - 5.0).abs() < TOLERANCE);

        let squared_norm = tangent.data.norm_squared();
        assert!((squared_norm - 25.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_tangent_zero() {
        let zero = SO3Tangent::zero();
        assert!(zero.data.norm() < TOLERANCE);

        let tangent = SO3Tangent::new(Vector3::zeros());
        assert!(tangent.is_zero(TOLERANCE));
    }

    #[test]
    fn test_so3_tangent_normalize() {
        let mut tangent = SO3Tangent::new(Vector3::new(3.0, 4.0, 0.0));
        tangent.normalize();
        assert!((tangent.data.norm() - 1.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_adjoint() {
        let so3 = SO3::random();
        let adj = so3.adjoint();
        assert_eq!(adj.nrows(), 3);
        assert_eq!(adj.ncols(), 3);

        // For SO(3), adjoint is the rotation matrix, so det should be 1
        let det = adj.determinant();
        assert!((det - 1.0).abs() < TOLERANCE);
    }

    #[test]
    fn test_so3_small_angle_approximations() {
        let small_tangent = SO3Tangent::new(Vector3::new(1e-8, 2e-8, 3e-8));
        let so3 = small_tangent.exp(None);
        let recovered = so3.log(None);
        assert!((small_tangent.data - recovered.data).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_specific_rotations() {
        // Test rotation around X axis
        let so3_x = SO3::from_axis_angle(&Vector3::x(), PI / 2.0);
        let point_y = Vector3::y();
        let rotated = so3_x.act(&point_y, None, None);
        assert!((rotated - Vector3::z()).norm() < TOLERANCE);

        // Test rotation around Z axis
        let so3_z = SO3::from_axis_angle(&Vector3::z(), PI / 2.0);
        let point_x = Vector3::x();
        let rotated = so3_z.act(&point_x, None, None);
        assert!((rotated - Vector3::y()).norm() < TOLERANCE);
    }

    #[test]
    fn test_so3_from_components() {
        let so3 = SO3::from_quaternion_coeffs(0.0, 0.0, 0.0, 1.0);
        assert_eq!(so3.x(), 0.0);
        assert_eq!(so3.y(), 0.0);
        assert_eq!(so3.z(), 0.0);
        assert_eq!(so3.w(), 1.0);
    }

    #[test]
    fn test_so3_tangent_from_components() {
        let tangent = SO3Tangent::from_components(1.0, 2.0, 3.0);
        assert_eq!(tangent.x(), 1.0);
        assert_eq!(tangent.y(), 2.0);
        assert_eq!(tangent.z(), 3.0);
    }

    #[test]
    fn test_so3_consistency_with_manif() {
        // Test that operations are consistent with manif library expectations
        let so3_1 = SO3::random();
        let so3_2 = SO3::random();

        // Test associativity: (R1 * R2) * R3 = R1 * (R2 * R3)
        let so3_3 = SO3::random();
        let left_assoc = so3_1
            .compose(&so3_2, None, None)
            .compose(&so3_3, None, None);
        let right_assoc = so3_1.compose(&so3_2.compose(&so3_3, None, None), None, None);

        assert!(left_assoc.distance(&right_assoc) < 1e-10);
    }

    #[test]
    fn test_so3_tangent_accessors() {
        let tangent = SO3Tangent::new(Vector3::new(1.0, 2.0, 3.0));
        assert_eq!(tangent.x(), 1.0);
        assert_eq!(tangent.y(), 2.0);
        assert_eq!(tangent.z(), 3.0);

        let coeffs = tangent.coeffs();
        assert_eq!(coeffs, Vector3::new(1.0, 2.0, 3.0));
    }

    #[test]
    fn test_so3_between() {
        let so3_1 = SO3::random();
        let so3_2 = SO3::random();
        let between = so3_1.between(&so3_2, None, None);

        // Check that so3_1 * between = so3_2
        let result = so3_1.compose(&between, None, None);
        assert!(result.distance(&so3_2) < TOLERANCE);
    }

    #[test]
    fn test_so3_distance() {
        let so3_1 = SO3::random();
        let so3_2 = SO3::random();
        let distance = so3_1.distance(&so3_2);
        assert!(distance >= 0.0);
        assert!(so3_1.distance(&so3_1) < TOLERANCE);
    }

    // New tests for the additional functions

    #[test]
    fn test_so3_vee() {
        let so3 = SO3::random();
        let tangent_log = so3.log(None);
        let tangent_vee = so3.vee();

        assert!((tangent_log.data - tangent_vee.data).norm() < 1e-10);
    }

    #[test]
    fn test_so3_is_approx() {
        let so3_1 = SO3::random();
        let so3_2 = so3_1.clone();

        assert!(so3_1.is_approx(&so3_1, 1e-10));
        assert!(so3_1.is_approx(&so3_2, 1e-10));

        // Test with small perturbation
        let small_tangent = SO3Tangent::new(Vector3::new(1e-12, 1e-12, 1e-12));
        let so3_perturbed = so3_1.right_plus(&small_tangent, None, None);
        assert!(so3_1.is_approx(&so3_perturbed, 1e-10));
    }

    #[test]
    fn test_so3_tangent_small_adj() {
        let axis_angle = Vector3::new(0.1, 0.2, 0.3);
        let tangent = SO3Tangent::new(axis_angle);
        let small_adj = tangent.small_adj();
        let hat_matrix = tangent.hat();

        // For SO(3), small adjoint equals hat matrix
        assert!((small_adj - hat_matrix).norm() < 1e-10);
    }

    #[test]
    fn test_so3_tangent_lie_bracket() {
        let tangent_a = SO3Tangent::new(Vector3::new(0.1, 0.0, 0.0));
        let tangent_b = SO3Tangent::new(Vector3::new(0.0, 0.2, 0.0));

        let bracket_ab = tangent_a.lie_bracket(&tangent_b);
        let bracket_ba = tangent_b.lie_bracket(&tangent_a);

        // Anti-symmetry test: [a,b] = -[b,a]
        assert!((bracket_ab.data + bracket_ba.data).norm() < 1e-10);

        // [a,a] = 0
        let bracket_aa = tangent_a.lie_bracket(&tangent_a);
        assert!(bracket_aa.is_zero(1e-10));

        // Verify bracket relationship with hat operator
        let bracket_hat = bracket_ab.hat();
        let expected = tangent_a.hat() * tangent_b.hat() - tangent_b.hat() * tangent_a.hat();
        assert!((bracket_hat - expected).norm() < 1e-10);
    }

    #[test]
    fn test_so3_tangent_is_approx() {
        let tangent_1 = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let tangent_2 = SO3Tangent::new(Vector3::new(0.1 + 1e-12, 0.2, 0.3));
        let tangent_3 = SO3Tangent::new(Vector3::new(0.5, 0.6, 0.7));

        assert!(tangent_1.is_approx(&tangent_1, 1e-10));
        assert!(tangent_1.is_approx(&tangent_2, 1e-10));
        assert!(!tangent_1.is_approx(&tangent_3, 1e-10));
    }

    #[test]
    fn test_so3_generators() {
        let tangent = SO3Tangent::new(Vector3::new(1.0, 1.0, 1.0));

        // Test all three generators
        for i in 0..3 {
            let generator = tangent.generator(i);

            // Generator should be skew-symmetric
            assert!((generator + generator.transpose()).norm() < 1e-10);

            // Generator should have trace zero
            assert!(generator.trace().abs() < 1e-10);
        }

        // Test specific values for the generators
        let e1 = tangent.generator(0);
        let e2 = tangent.generator(1);
        let e3 = tangent.generator(2);

        // Expected generators based on C++ manif implementation
        let expected_e1 = Matrix3::new(0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0);
        let expected_e2 = Matrix3::new(0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0);
        let expected_e3 = Matrix3::new(0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0);

        assert!((e1 - expected_e1).norm() < 1e-10);
        assert!((e2 - expected_e2).norm() < 1e-10);
        assert!((e3 - expected_e3).norm() < 1e-10);
    }

    #[test]
    #[should_panic]
    fn test_so3_generator_invalid_index() {
        let tangent = SO3Tangent::new(Vector3::new(1.0, 1.0, 1.0));
        let _generator = tangent.generator(3); // Should panic for SO(3)
    }

    #[test]
    fn test_so3_jacobi_identity() {
        // Test Jacobi identity: [x,[y,z]]+[y,[z,x]]+[z,[x,y]]=0
        let x = SO3Tangent::new(Vector3::new(0.1, 0.0, 0.0));
        let y = SO3Tangent::new(Vector3::new(0.0, 0.2, 0.0));
        let z = SO3Tangent::new(Vector3::new(0.0, 0.0, 0.3));

        let term1 = x.lie_bracket(&y.lie_bracket(&z));
        let term2 = y.lie_bracket(&z.lie_bracket(&x));
        let term3 = z.lie_bracket(&x.lie_bracket(&y));

        let jacobi_sum = SO3Tangent::new(term1.data + term2.data + term3.data);
        assert!(jacobi_sum.is_zero(1e-10));
    }

    // T1: Numerical Jacobian Verification Tests

    #[test]
    fn test_so3_right_jacobian_numerical() {
        // The right Jacobian Jr relates tangent space perturbations to group elements:
        // exp(ξ + δξ) ≈ exp(ξ) ∘ exp(Jr(ξ)·δξ)
        // Equivalently: Jr(ξ)·δξ ≈ log(exp(ξ)^{-1} ∘ exp(ξ + δξ))

        let xi = Vector3::new(0.1, 0.2, 0.3);
        let tangent = SO3Tangent::new(xi);
        let jr_analytical = tangent.right_jacobian();

        // Test with small perturbations in each direction
        let delta_size = 1e-6;
        let test_deltas = vec![
            Vector3::new(delta_size, 0.0, 0.0),
            Vector3::new(0.0, delta_size, 0.0),
            Vector3::new(0.0, 0.0, delta_size),
        ];

        for delta in test_deltas {
            // Analytical: Jr * δξ
            let analytical_result = jr_analytical * delta;

            // Numerical: log(exp(ξ)^{-1} * exp(ξ + δξ))
            let base = SO3Tangent::new(xi).exp(None);
            let perturbed = SO3Tangent::new(xi + delta).exp(None);
            let base_inv = base.inverse(None);
            let diff_element = base_inv.compose(&perturbed, None, None);
            let diff_log = diff_element.log(None);
            let numerical_result = Vector3::new(diff_log.x(), diff_log.y(), diff_log.z());

            let error = (analytical_result - numerical_result).norm();
            assert!(
                error < 1e-7,
                "Right Jacobian verification failed: error = {}, delta = {:?}",
                error,
                delta
            );
        }
    }

    #[test]
    fn test_so3_left_jacobian_numerical() {
        // The left Jacobian Jl relates tangent space perturbations to group elements:
        // exp(ξ + δξ) ≈ exp(Jl(ξ)·δξ) ∘ exp(ξ)
        // Equivalently: Jl(ξ)·δξ ≈ log(exp(ξ + δξ) ∘ exp(ξ)^{-1})

        let xi = Vector3::new(0.1, 0.2, 0.3);
        let tangent = SO3Tangent::new(xi);
        let jl_analytical = tangent.left_jacobian();

        // Test with small perturbations in each direction
        let delta_size = 1e-6;
        let test_deltas = vec![
            Vector3::new(delta_size, 0.0, 0.0),
            Vector3::new(0.0, delta_size, 0.0),
            Vector3::new(0.0, 0.0, delta_size),
        ];

        for delta in test_deltas {
            // Analytical: Jl * δξ
            let analytical_result = jl_analytical * delta;

            // Numerical: log(exp(ξ + δξ) * exp(ξ)^{-1})
            let base = SO3Tangent::new(xi).exp(None);
            let perturbed = SO3Tangent::new(xi + delta).exp(None);
            let base_inv = base.inverse(None);
            let diff_element = perturbed.compose(&base_inv, None, None);
            let diff_log = diff_element.log(None);
            let numerical_result = Vector3::new(diff_log.x(), diff_log.y(), diff_log.z());

            let error = (analytical_result - numerical_result).norm();
            assert!(
                error < 1e-7,
                "Left Jacobian verification failed: error = {}, delta = {:?}",
                error,
                delta
            );
        }
    }

    #[test]
    fn test_so3_accumulated_error_small_rotations() {
        // Compose 1000 small rotations, verify final result
        let small_rotation = SO3::from_scaled_axis(Vector3::new(0.001, 0.002, -0.001));
        let mut accumulated = SO3::identity();

        for _ in 0..1000 {
            accumulated = accumulated.compose(&small_rotation, None, None);
        }

        // Expected: 1000 * small rotation
        let expected_tangent = SO3Tangent::new(Vector3::new(1.0, 2.0, -1.0));
        let expected = expected_tangent.exp(None);

        // Tolerance reflects accumulated rounding error over 1000 compositions (expected)
        assert!(accumulated.is_approx(&expected, 1e-6));
    }

    #[test]
    fn test_so3_inverse_composition_chain() {
        // g * g^{-1} * g * g^{-1} ... should stay near identity
        let rotation = SO3::from_euler_angles(0.1, 0.2, 0.3);
        let inverse = rotation.inverse(None);
        let mut accumulated = SO3::identity();

        for _ in 0..500 {
            accumulated = accumulated.compose(&rotation, None, None);
            accumulated = accumulated.compose(&inverse, None, None);
        }

        // Should still be identity (within numerical error)
        assert!(accumulated.is_approx(&SO3::identity(), 1e-9));
    }

    // T2: Edge Case Tests

    #[test]
    fn test_so3_antipodal_quaternions() {
        // q and -q represent the same rotation
        let q = UnitQuaternion::from_euler_angles(0.5, 0.3, 0.2);
        let so3_pos = SO3::new(q);
        let so3_neg = SO3::new(UnitQuaternion::from_quaternion(-q.quaternion()));

        // Should represent the same rotation (up to numerical tolerance)
        let log_pos = so3_pos.log(None);
        let log_neg = so3_neg.log(None);

        // One of these should be true: either logs are equal, or they're π apart
        let diff_norm = (log_pos.data - log_neg.data).norm();
        let sum_norm = (log_pos.data + log_neg.data).norm();
        assert!(diff_norm < 1e-10 || sum_norm < 1e-10);
    }

    #[test]
    fn test_so3_near_pi_rotation() {
        // Test rotation very close to π (edge case in log())
        let axis = Vector3::new(1.0, 0.0, 0.0).normalize();
        let angle = std::f64::consts::PI - 1e-8;
        let so3 = SO3::from_axis_angle(&axis, angle);

        let tangent = so3.log(None);
        let recovered = tangent.exp(None);

        assert!(so3.is_approx(&recovered, 1e-6));
    }

    #[test]
    fn test_so3_right_jacobian_inverse_identity() {
        let tangent = SO3Tangent::new(Vector3::new(0.001, 0.002, 0.003));
        let jr = tangent.right_jacobian();
        let jr_inv = tangent.right_jacobian_inv();
        let product = jr * jr_inv;
        let identity = Matrix3::identity();

        assert!(
            (product - identity).norm() < 1e-10,
            "Jr * Jr_inv should be identity, got error: {}",
            (product - identity).norm()
        );
    }

    #[test]
    fn test_so3_left_jacobian_inverse_identity() {
        let tangent = SO3Tangent::new(Vector3::new(0.001, 0.002, 0.003));
        let jl = tangent.left_jacobian();
        let jl_inv = tangent.left_jacobian_inv();
        let product = jl * jl_inv;
        let identity = Matrix3::identity();

        assert!(
            (product - identity).norm() < 1e-10,
            "Jl * Jl_inv should be identity, got error: {}",
            (product - identity).norm()
        );
    }

    #[test]
    fn test_so3_from_quaternion_wxyz() {
        // Identity quaternion: w=1, x=y=z=0
        let so3_wxyz = SO3::from_quaternion_wxyz(1.0, 0.0, 0.0, 0.0);
        let so3_xyzw = SO3::from_quaternion_coeffs(0.0, 0.0, 0.0, 1.0);
        assert!(so3_wxyz.is_approx(&so3_xyzw, 1e-12));

        // Non-trivial quaternion: verify swapped argument order gives same result
        let so3_wxyz = SO3::from_quaternion_wxyz(0.4, 0.1, 0.2, 0.3);
        let so3_xyzw = SO3::from_quaternion_coeffs(0.1, 0.2, 0.3, 0.4);
        assert!(so3_wxyz.is_approx(&so3_xyzw, 1e-12));
    }

    #[test]
    fn test_so3_tangent_is_not_dynamic() {
        assert!(!SO3Tangent::is_dynamic());
        assert_eq!(SO3Tangent::DIM, 3);
    }

    #[test]
    fn test_so3_small_angle_threshold_exp_log() {
        // Test angles near the SMALL_ANGLE_THRESHOLD boundary round-trip correctly
        // sqrt(1e-10) ≈ 1e-5 is the effective angle threshold
        let near_threshold_angles = [1e-6, 1e-5, 1e-4, 1e-3];

        for &angle in &near_threshold_angles {
            let tangent = SO3Tangent::new(Vector3::new(angle, 0.0, 0.0));
            let so3 = tangent.exp(None);
            let recovered = so3.log(None);
            assert!(
                (tangent.data - recovered.data).norm() < 1e-10,
                "SO3 exp-log round-trip failed for angle = {angle}"
            );
        }
    }

    #[test]
    fn test_so3_display() {
        let r = SO3::identity();
        let s = format!("{r}");
        assert!(!s.is_empty(), "Display should produce output");
    }

    #[test]
    fn test_so3_accessors_xyzw() {
        let r = SO3::from_axis_angle(&Vector3::z(), std::f64::consts::FRAC_PI_2);
        let _ = r.x();
        let _ = r.y();
        let _ = r.z();
        let _ = r.w();
        let q = r.to_quaternion();
        let q2 = r.quat();
        assert!((q.w - q2.w).abs() < 1e-10);
    }

    #[test]
    fn test_so3_set_quaternion_and_coeffs() {
        // coeffs() returns [w, x, y, z] and set_quaternion takes [w, x, y, z]
        let r_orig = SO3::from_euler_angles(0.1, 0.2, 0.3);
        let orig_coeffs = r_orig.coeffs();
        assert_eq!(orig_coeffs.len(), 4);

        // Round-trip: read coeffs, set them back, read again
        let mut r2 = SO3::identity();
        r2.set_quaternion(&orig_coeffs);
        let c2 = r2.coeffs();
        for i in 0..4 {
            assert!(
                (c2[i] - orig_coeffs[i]).abs() < 1e-9,
                "coeffs[{i}] mismatch"
            );
        }
    }

    #[test]
    fn test_so3_from_scaled_axis_constructor() {
        let v = Vector3::new(0.1, 0.2, 0.3);
        let r = SO3::from_scaled_axis(v);
        assert!(r.is_valid(1e-6));
    }

    #[test]
    fn test_so3_from_axis_angle_constructor() {
        let axis = Vector3::x();
        let r = SO3::from_axis_angle(&axis, std::f64::consts::FRAC_PI_4);
        assert!(r.is_valid(1e-6));
    }

    #[test]
    fn test_so3_tangent_axis_angle_accessors() {
        let t = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));

        // axis_angle() returns Vector3<f64>
        let av = t.axis_angle();
        assert!((av.norm() - t.angle()).abs() < 1e-10);

        // axis() returns normalized Vector3
        let ax = t.axis();
        assert!((ax.norm() - 1.0).abs() < 1e-9);

        // let _ = t.x();
        // let _ = t.y();
        // let _ = t.z();

        let c = t.coeffs();
        assert_eq!(c.len(), 3);

        // ang() returns Vector3<f64>
        let ang = t.ang();
        assert!((ang.norm() - t.angle()).abs() < 1e-10);
    }

    #[test]
    fn test_so3_right_jacobian_inv() {
        use crate::Tangent;
        let t = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let jr_inv = t.right_jacobian_inv();
        assert_eq!(jr_inv.nrows(), 3);
        assert_eq!(jr_inv.ncols(), 3);

        let jr = t.right_jacobian();
        let product = jr_inv * jr;
        for i in 0..3 {
            for j in 0..3 {
                let expected = if i == j { 1.0 } else { 0.0 };
                assert!(
                    (product[(i, j)] - expected).abs() < 1e-4,
                    "product[{i},{j}] = {} != {expected}",
                    product[(i, j)]
                );
            }
        }
    }

    #[test]
    fn test_so3_left_jacobian_inv() {
        use crate::Tangent;
        let t = SO3Tangent::new(Vector3::new(0.1, 0.2, 0.3));
        let jl_inv = t.left_jacobian_inv();
        assert_eq!(jl_inv.nrows(), 3);

        let jl = t.left_jacobian();
        let product = jl_inv * jl;
        for i in 0..3 {
            for j in 0..3 {
                let expected = if i == j { 1.0 } else { 0.0 };
                assert!(
                    (product[(i, j)] - expected).abs() < 1e-4,
                    "product[{i},{j}] = {} != {expected}",
                    product[(i, j)]
                );
            }
        }
    }

    #[test]
    fn test_so3_tangent_normalized() {
        use crate::Tangent;
        let t = SO3Tangent::new(Vector3::new(0.0, 0.0, 3.0));
        let tn = t.normalized();
        assert!((tn.angle() - 1.0).abs() < 1e-9);
    }

    #[test]
    fn test_so3_tangent_is_zero() {
        use crate::Tangent;
        let zero = SO3Tangent::new(Vector3::zeros());
        assert!(zero.is_zero(1e-9));
        let nonzero = SO3Tangent::new(Vector3::new(0.1, 0.0, 0.0));
        assert!(!nonzero.is_zero(1e-9));
    }

    #[test]
    fn test_so3_inverse_with_jacobian() {
        use crate::LieGroup;
        let r = SO3::from_euler_angles(0.1, 0.2, 0.3);
        let mut jac = Matrix3::zeros();
        let inv = r.inverse(Some(&mut jac));
        assert!(inv.is_valid(1e-6));
        assert!(jac[(0, 0)].is_finite());
    }

    #[test]
    fn test_so3_compose_with_jacobians() {
        use crate::LieGroup;
        let r1 = SO3::from_euler_angles(0.1, 0.2, 0.3);
        let r2 = SO3::from_euler_angles(0.4, 0.1, 0.2);
        let mut j_self = Matrix3::zeros();
        let mut j_other = Matrix3::zeros();
        let result = r1.compose(&r2, Some(&mut j_self), Some(&mut j_other));
        assert!(result.is_valid(1e-6));
        assert!(j_self[(0, 0)].is_finite());
        assert!(j_other[(0, 0)].is_finite());
    }

    #[test]
    fn test_so3_zero_jacobian() {
        use crate::LieGroup;
        let zj = SO3::zero_jacobian();
        for i in 0..3 {
            for j in 0..3 {
                assert!(zj[(i, j)].abs() < 1e-10);
            }
        }
    }

    #[test]
    fn test_so3_act_with_jacobians() {
        use crate::LieGroup;
        let r = SO3::from_euler_angles(0.1, 0.2, 0.3);
        let v = Vector3::new(1.0, 0.0, 0.0);
        let mut j_self = Matrix3::zeros();
        let mut j_vec = Matrix3::zeros();
        let result = r.act(&v, Some(&mut j_self), Some(&mut j_vec));
        assert!(result.norm() > 0.0);
        assert!(j_self[(0, 0)].is_finite());
        assert!(j_vec[(0, 0)].is_finite());
    }

    #[test]
    fn test_from_dvector_wxyz() {
        let dv = ::nalgebra::dvector![144., 96., 72., 83.] / 205.; // norm 1
        let so3 = SO3::from(dv.clone());
        assert_eq!(144. / 205., so3.w());
        assert_eq!(96. / 205., so3.x());
        assert_eq!(72. / 205., so3.y());
        assert_eq!(83. / 205., so3.z());
    }

    #[test]
    fn test_from_s03_wxyz() {
        let so3 = SO3::from_quaternion_wxyz(144. / 205., 96. / 205., 72. / 205., 83. / 205.); // norm 1
        let dv = DVector::<f64>::from(so3.clone());
        assert_eq!(144. / 205., dv[0]);
        assert_eq!(96. / 205., dv[1]);
        assert_eq!(72. / 205., dv[2]);
        assert_eq!(83. / 205., dv[3]);
    }

    #[test]
    fn test_bijective_from_dvector() {
        let dv_expected = ::nalgebra::dvector![144., 96., 72., 83.] / 205.; // norm 1
        let so3_expected = SO3::from(dv_expected.clone());
        let dv_actual = DVector::<f64>::from(so3_expected.clone());
        let so3_actual = SO3::from(dv_actual.clone());
        assert_eq!(dv_expected, dv_actual);
        assert!(so3_expected == so3_actual);
    }
}