def log(self) -> Tensor:
        """Convert elements of lie group  to elements of lie algebra.

        Example:
            >>> from kornia.geometry.quaternion import Quaternion
            >>> q = Quaternion.identity()
            >>> Se3(q, torch.zeros(3)).log()
            tensor([0., 0., 0., 0., 0., 0.], grad_fn=<CatBackward0>)

        """
        omega = self.r.log()
        theta = batched_dot_product(omega, omega).sqrt()
        t = self.t.data
        omega_hat = So3.hat(omega)
        omega_hat_sq = omega_hat @ omega_hat
        V_inv = (
            eye(3, device=omega.device, dtype=omega.dtype)
            - 0.5 * omega_hat
            + ((1 - theta * (theta / 2).cos() / (2 * (theta / 2).sin())) / theta.pow(2))[..., None, None] * omega_hat_sq
        )
        t = where(theta[..., None] != 0.0, (t[..., None, :] * V_inv).sum(-1), t)
        return concatenate((t, omega), -1)
Convert elements of lie group  to elements of lie algebra.

        Example:
            >>> from kornia.geometry.quaternion import Quaternion
            >>> q = Quaternion.identity()
            >>> Se3(q, torch.zeros(3)).log()
            tensor([0., 0., 0., 0., 0., 0.], grad_fn=<CatBackward0>)

        
kornia/geometry/liegroup/se3.py