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

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May 20, 2017 · Then di erentiation by the vector is straightforward, as fis linear in x: @y @x = R (27) Di erentiation by the rotation parameters is performed by implicitly left multiplying the rotation by the exponential of a tangent vector and di erentiating the resulting expression around the zero perturbation.

  Di erentiation, Erentiation