mvg:lecture_03:start
Differences
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| mvg:lecture_03:start [2018/11/29 14:12] – [TRansformation between Lie Algebra and Lie Group] admin | mvg:lecture_03:start [2018/12/23 18:45] (current) – [TRansformation between Lie Algebra and Lie Group] admin | ||
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| === Exponential Map === | === Exponential Map === | ||
| - | $\left{\dot{R}(t)=\hat{w}R(t)$ | + | $\left\{ \dot{R}(t)=\hat{w}R(t)\right. |
| $R(0) = I$ | $R(0) = I$ | ||
| - | How does the rotation matrix change from one time within a littel | + | How does the rotation matrix change from one time within a little |
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| + | $R(t) = e^{\hat{w}t} = \sum \ldots $ expansion. That solves the diff. eqn. above. | ||
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| + | $\exp: so(3) \rightarrow SO(3)\quad \hat{w} -> e^{\hat{w}}$ | ||
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mvg/lecture_03/start.1543500753.txt.gz · Last modified: 2018/11/29 14:12 by admin