void ckMatrixLogExp() {
Matrix3d x = getRandRot();
// /x << -1,0,0,0,-1,0,0,0,1;
cout << x << endl << endl;
cout << log(x) << endl << endl;
cout << exp(log(x)) << endl << endl;
cout << exp(log(x)) - x << endl << endl;
cout << x.log() << endl << endl;
cout << x.log().exp() << endl << endl;
cout << x.log().exp() - x << endl << endl;
}
