parameters: (v)
return_statement: return So3(
              sophus.Quaternion(
                  sympy.cos(0.5 * theta),
                  sympy.sin(0.5 * theta) / theta * v))
docstring: exponential map
docstring_summary: exponential map
docstring_tokens: exponential map
function: def exp(v):
          """ exponential map """
          theta_sq = sophus.squared_norm(v)
          theta = sympy.sqrt(theta_sq)
          return So3(
              sophus.Quaternion(
                  sympy.cos(0.5 * theta),
                  sympy.sin(0.5 * theta) / theta * v))
function_tokens: def exp ( v ) : theta_sq = sophus . squared_norm ( v ) theta = sympy . sqrt ( theta_sq ) return So3 ( sophus . Quaternion ( sympy . cos ( 0.5 * theta ) , sympy . sin ( 0.5 * theta ) / theta * v ) )