Explicit SO(3) SE(3) and SIM(3) Jacobians implemented with sympy
A useful Jacobian for error reduction on lie manifolds is
d
-- log(exp(a)^-1 * exp(b)) - error
db
This repository is meant as an accompaniment to a blog post which derives explicit formulae for SO(3) SE(3) and SIM(3) Jacobians of the above form.