Lie bracket is zero on so(2)

[olivierverdier]

After some computations, there are numerical errors in the elements of $\mathfrak{so}(2)$. This PR ensures that even after errors, the Lie bracket is exactly zero.

[mateuszbaran]

That's a good idea, I've just made it slightly faster.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 96.39%. Comparing base (b3c0fa4) to head (32fbffa).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master     #761   +/-   ##
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  Coverage   96.39%   96.39%           
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  Files         123      123           
  Lines       11441    11445    +4     
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+ Hits        11028    11032    +4     
  Misses        413      413           

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