class_docstr: Base class to represent the Se3 group.
  
  The SE(3) is the group of rigid body transformations about the origin of three-dimensional Euclidean
  space :math:`R^3` under the operation of composition.
  See more: https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = Se3(q, torch.ones(3))
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      Parameter containing:
      tensor([1., 1., 1.], requires_grad=True)
docstr: Converts 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>)
code: def log(self) -> Tensor:
      """Converts 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)
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, eye, pad, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES
  from kornia.geometry.liegroup.so3 import So3
  from kornia.geometry.linalg import batched_dot_product
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
label_desc: Use image node_id 13 for calling the Se3 obj's underlying member method code with example usage: obj.log() and returns: concatenate