code: def exp_so3(w: jnp.ndarray, theta: float) -> jnp.ndarray:
      """Exponential map from Lie algebra so3 to Lie group SO3.
  
      Modern Robotics Eqn 3.51, a.k.a. Rodrigues' formula.
  
      Args:
        w: (3,) An axis of rotation.
        theta: An angle of rotation.
  
      Returns:
        R: (3, 3) An orthonormal rotation matrix representing a rotation of
          magnitude theta about axis w.
      """
      W = skew(w)
      return (
          jnp.eye(3)
          + jnp.sin(theta) * W
          + (1.0 - jnp.cos(theta)) * W @ W
      )
  
file_path: nerfies/nerfies/rigid_body.py
imports: import jax
  from jax import numpy
label_desc: Use image node_id 3 for calling a global function with example usage: exp_so3(w, theta) and returns: unknown