Introduction
Lie-group and Lie-algebra
derivative of roation matrix to lie-algebra
Group
封闭性 结合性 幺元 可逆
Li-group
gradient, smooth,
Lie-algebra: tangent space
log and exp relationship between SO(3) and so(3)
lie-algebra
compose of Set V, number domain F and a two-input operator (,):
封闭性
if X belong V and Y belong V, [X, Y] belong V
双线性
[aX + bY, Z] = a[X, Z] + b[Y, Z]
自反性
[X, X] = 0
雅可比等价
[X, [Y, Z]] + [Z, [X, Y]] + [Y, [Z, X]] = 0
Represent the difference between two elements
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