Extra care needed for np.sin(theta) where theta = +np.pi or -np.pi ?

[Carpetfizz]

Hello,

In the so3.log function

liegroups/liegroups/numpy/so3.py

Line 205 in fe1d376

return self.vee((0.5 * angle / np.sin(angle)) * (self.mat - self.mat.T))

There's a division by np.sin(angle) but there isn't a check to see if angle is +np.pi or -np.pi. I understand that due to numerical precision, np.sin(np.pi) != 0.0 but I'm wondering if there needs to be some extra care taken here.

See

https://en.wikipedia.org/wiki/Axis–angle_representation#Log_map_from_SO(3)_to_%7F'%22%60UNIQ--postMath-0000000D-QINU%60%22'%7F(3)