Closed-form relations and higher-order approximations for the first and second derivatives of the tangent operator on SE(3) are provided in compact matrix form.
Geometric integration on Euclidean group with application to articulated multibody systems,
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Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)
Closed-form relations and higher-order approximations for the first and second derivatives of the tangent operator on SE(3) are provided in compact matrix form.