Transposition of formulae

Lie Groups for 2D and 3D Transformations - Ethan Eade

May 20, 2017 · This document derives useful formulae for working with the Lie groups that represent transformations in 2D and 3D space. A Lie group is a topological group that is also a smooth manifold, with some other nice properties. Associated with every Lie group is a Lie algebra, which is a vector space discussed below.

  Group, Formulae, Lie group