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# holoscan::pose3_log

> Logarithmic map of SE(3) which maps a manifold space element to the tangent space.

```cpp showLineNumbers={false}
template <typename K>
Vector6<K> holoscan::pose3_log(
    const Pose3<K> &pose
)
```

Logarithmic map of SE(3) which maps a manifold space element to the tangent space.

This computes the tangent for a pose relative to the identity pose. Log and exp are inverse to each other.

**Returns:** Tangent space vector (tx, ty, tz, rx, ry, rz).

**Template parameters**

**`K`** `typename`

Scalar type.

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**Parameters**

**`pose`** `const Pose3<K> &`

Pose on the SE(3) manifold.

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