UB fix attempt #2

cpp/sophus/lie/pose3.h

@@ -105,7 +105,16 @@ class Pose3 {
   static Expected<Tangent> error(
       Pose3 const& lhs_a_from_b, Pose3 const& rhs_a_from_b) {
     FARM_TRY(Pose3, product, lhs_a_from_b.inverse() * rhs_a_from_b);
-    return product->log();
+
+    FARM_INFO(
+        "lhs:\n {}\n rhs: {}\n prod: {}",
+        lhs_a_from_b.a_from_b_.matrix(),
+        rhs_a_from_b.a_from_b_.matrix(),
+        product.a_from_b_.matrix());
+    Tangent log =  product.log();
+
+    FARM_INFO("log: {}", log);
+    return log;
   }
 
   friend Expected<Pose3> operator*(Pose3 const& lhs, Pose3 const& rhs) {

py/tests/test_lie.py

@@ -119,11 +119,18 @@ def test_pose():
     )
 
     a_from_c = a_from_b * b_from_c
+    print("a_from_c", a_from_c)
     print("woot", ng.Rotation3F64.from_proto(a_from_c.rotation.to_proto()).to_proto())
     ng.Pose3F64.from_proto(a_from_c.to_proto())
     print("Here!", a_from_c.log())
-    assert a_from_c.frame_a == "a"
-    assert a_from_c.frame_b == "c"
+
+    try:
+        assert a_from_c.frame_a == "a"
+    except ValueError:
+        print("something went wrong")
+        assert False
+
+
 
     assert np.allclose(a_from_c.log(), ng.Isometry3F64().log())