Great post. Equation 20 defining curvature has a typo in the first term on the right - It should be ∇_X∇_Y Z instead of ∇_X∇_Y X. Might be useful for anyone r

Great post. Equation 20 defining curvature has a typo in the first term on the right - It should be ∇_X∇_Y Z instead of ∇_X∇_Y X. Might be useful for anyone reading it the first time to avoid confusion.