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Jacobian of exp(RotationVecGenerator(...)) at 0 results in NaN #280

@cafaxo

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@cafaxo

This should not result in NaN:

julia> f(p) = exp(RotationVecGenerator(p[1], p[2], p[3]));

julia> ForwardDiff.jacobian(f, [0.0, 0.0, 0.0])
9×3 Matrix{Float64}:
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN
 NaN  NaN  NaN

The correct output is

julia> f2(p) = exp(SMatrix(RotationVecGenerator(p[1], p[2], p[3])));

julia> ForwardDiff.jacobian(f2, [0.0, 0.0, 0.0])
9×3 Matrix{Float64}:
 0.0   0.0   0.0
 0.0   0.0   1.0
 0.0  -1.0   0.0
 0.0   0.0  -1.0
 0.0   0.0   0.0
 1.0   0.0   0.0
 0.0   1.0   0.0
-1.0   0.0   0.0
 0.0   0.0   0.0

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