Bugfix: correct SO(3) logmap when theta small #780
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This PR fixes #746.
When mod(theta, 2pi) is small, the SO(3) logmap has to be handled specially (to avoid numerical problems) using the Taylor series expansion. Previously the code which implemented this first-order Taylor series expansion was incorrect (although the comment above it was correct). This PR corrects the line of code, as well as adds a comment above directing the user to the related issue (#746), where the user can find the derivation of the equation.