Added identity tests

Author: bokorn-bdaii

tests/test_pose3d.py

@@ -687,8 +687,11 @@ def test_functions_lie(self):
 
         # Check log and exponential map
         nt.assert_equal(R, SO3.Exp(R.log()))
+        np.testing.assert_equal((R.inv() * R).log(), np.zeros([3, 3]))
+
         # Check euler vector map
         nt.assert_equal(R, SO3.EulerVec(R.eulervec()))
+        np.testing.assert_equal((R.inv() * R).eulervec(), np.zeros(3))
 
 
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